SYNCHRO/RESOLVER

CONVERSION
HANDBOOK

105 Wilbur Place, Bohemia, New York 11716-2482

Tel: (631) 567-5600

World Wide Web - http://www.ddc-web.com

FOURTH EDITION

ELECTRONIC VERSION

i
 Synchro/Resolver Conversion Handbook

First Edition................1973
First Printing ........10,000 (1973)
Second Printing...10,000 (1979)
Third Printing.......10,000 (1982)
Fourth Printing ....10,000 (1985)
..............................5,000 (1986)
Second Edition...........1988

First Printing ........10,000 (1988)

Third Edition...............1990

First Printing ........15,000 (1990)

Fourth Edition ............1994

First Printing ..........8,000 (1994)

The information in this publication is believed to be accurate; however, no responsibility is assumed by Data
Device Corporation for its use, and no license or rights are granted by implication or otherwise in connection
therewith. Specifications are subject to change without notice.

U
REG

RM

Library of Congress Catalog Number: 74-77038 ST

®
FI
I

ERED
DATA DEVICE CORPORATION

Copyright 1974, 1999 Data Device Corporation REGISTERED TO ISO 9001

FILE NO. A5976

ii
PREFACE

iii
THIS PAGE INTENTIONALLY LEFT BLANK

iv
 FUNDAMENTALS

SECTION I

Angle-Sensing Transducers

The measurement of shaft angle is one of the most

prevalent requirements in the modern control, instru-
mentation, and computing technologies. Almost
every machine, process, and monitoring system has
a rotating shaft somewhere in its mechanism...or can
be so equipped. Mechanisms for converting shaft
rotation to translation (linear motion) further extend
the usefulness of shaft-angle sensing.

Shaft angle is used in the measurement and control

of position, velocity, and acceleration, in one, two, or Figure 1.1. Potentiometers.
three spatial dimensions; and, in many systems,
many different sets of these parameters must be
B0
sensed and/or controlled. Thus, shaft-angle trans-
B1
ducers are extremely important elements in modern
B2
engineering.
B3

SHAFT
Over the years, many different forms of shaft-angle
transducers have been developed. Among them, the
following are worth consideration:

Potentiometers (single or multiturn - see Figure 1.1)

Brush encoders (see Figure 1.2)

Figure 1.2. Brush Encoder.
B0, B1, B2, B3, show brush positions.
Optical encoders (see Figure 1.3)

Synchros (see Figure 1.4)

PIERCED CODED DISC
Resolvers (see Figure 1.5) PHOTO
LIGHT SOURCE DETECTOR

Rotary Variable Differential Transformers (RVDTs)/ "N" "N"

Linear Variable Differential Transformers (LVDTs) LIGHT PHOTO
SOURCES DETECTOR
(see Figure 1.6)

Let us now compare these types of transducers with

respect to the most important design parameters.

Reliability and Functional Stability

Figure 1.3. Optical Shaft Encoder.
The probability of catastrophic failure, and the prob- In this type of encoder, the disk is pierced with a
ability of failure to meet specifications are related pattern analogous to the disk shown in Figure 1.2.

1
 FUNDAMENTALS

parameters. In most applications, either kind of fail-

ure is intolerable. In both respects, synchro, resolver
and RVDT/LVDT sensors are unchallenged. They do
not depend on moving electrical contacts for signal
integrity (e.g., brushes)*; they do not exhibit appre-
ciable aging or wear. They do not drift with time, and
STATOR
even extreme temperature changes have negligible
effect on their performance. Next in order of reliabil-
ity, but significantly less dependable are optical
encoders, which exhibit significant temperature
dependence, and appreciable vulnerability to elec-
ROTOR
tromagnetic and electrostatic fields. Following them,
in decreasing order of reliability, are the moving-con- Figure 1.4. Synchro.
tact devices: potentiometers and brush transducers.

Cost COSINE
OUTPUT

In comparing costs, it is necessary to include the

associated electronics required to produce data in
SINE
the form acceptable for modern control and monitor- OUTPUT
ing systems - digital data. Thus potentiometers, ROTOR
which are analog components, must be excited by a ANGLE ROTOR
ANGLE
well-regulated reference voltage, and their output
signals must be digitized. Similar circuit implemen-
COSINE
tation must be provided for all of the types of trans- STATOR OUTPUT

ducers under consideration, with the brush encoder REF. INPUT

type requiring the least. The costs can only be TWO WINDINGS
ON ROTOR
meaningfully compared at a given level of resolution
SINE
(e.g., at 0.01% of 360° full scale), but assuming rela- OUTPUT

tively high precision, the order of decreasing cost is:

Figure 1.5. Resolver.
optical encoder; synchro/resolver; RVDT/LVDT;
potentiometer; and brush encoder.

Attainable Performance

The resolution capability, absolute accuracy, long-

term reliability, temperature stability, and dynamic
LVDT
response characteristics of these devices vary from
type to type. It is generally accepted that both the
synchro/resolver and optical types are capable of COIL
equal state-of-the-art performance (10-50 PPM total
uncertainty), under optimum conditions. Though the CORE

brush encoder can theoretically attain equivalent

RVDT
performance, its useful operating life, at very high
resolutions, is severely limited by noise and position- Figure 1.6. RVDT/LVDT.
*Synchro and Resolver brushes ride on slip rings, not segmented surfaces; furthermore, contact resistance changes do not introduce
significant data errors.

2

al uncertainty, due to brush wear, and dimensional
uncertainty under normal vibration stress.
Potentiometers (including the so-called “infinite reso-
lution” film types) are even more severely limited by
wear and other mechanical and electrical noise
uncertainties. RVDTs and LVDTs, because of their
unique properties, occupy a niche all to themselves
and do not really compete with the other transducers.
Many LVDTs have virtually no friction, excellent null
stability and operate in both extremes of the temper-
ature spectrum.
Static and Dynamic Mechanical Loading
All shaft angle transducers, except the LVDT, present
some small amount of static and dynamic friction to
the shaft measured. In the case of the RVDT, syn-
chro/resolver, and optical-sensor types, the friction is
usually negligible - particularly since high-quality
bearings are used. Another dynamic loading ele-
ment to consider is the moment of inertia added to
the shaft. In this respect, miniature synchro/resolver
and RVDT/LVDT designs are ideal. They are superi-
or to the large diameter encoders required for high
resolution. The static and dynamic loading present-
ed by both potentiometers and brush sensors are
significantly higher than those presented by either
synchro/resolvers, RVDT/LVDTs or optical encoders.
B0
FILTER
B1
FILTER
Bn1
FILTER
COMMON
SAMPLING DELAY
LOGIC
Figure 1.7. Typical Interface (simplified) between Disk Encoder and Computer.
1. See Section VII for definitions and discussions of these error factors.
2. See Section IX for definitions and discussions of these error factors.
FUNDAMENTALS
Environmental Sensitivity
Environmental considerations include: temperature,
humidity, vibration, shock, and power supply varia-
tions. Under extreme environmental conditions the
synchro/resolver or RVDT/LVDT with solid-state
electronics is the most dependable and stable of all
shaft-angle instrumentation configurations. The
other types perform in the descending order of merit:
optical-sensor; potentiometer; brush-sensor. The
RVDT/LVDTs in particular have excellent null stabili-
ty and can be constructed to operate in very extreme
environments.
Angle-Data Conversion Devices
All of the transducers considered above require exci-
tation by AC or DC analog reference signals. The
disc encoders produce parallel digital outputs at all
times (although monotonicity1 tends to be poor at
major-carry transitions from quadrant to quadrant),
but require signal conditioning electronics: filtering,
common-mode rejection2 to preserve accuracy
despite ground-loops and induced low-frequency
noise, and buffer amplification. Synchronous clock-
ing and parallel-serial conversion may also be
required. Figure 1.7 shows typical interface electron-
ics between a disc encoder and a computer data link.
RESET
BUFFER
R
E
G
BUFFER
I
S
T
E
R
BUFFER
CLOCK
LATCH
STROBE
COMPUTER
I/O BUS
3
 FUNDAMENTALS

The analog-output devices - potentiometers, syn-

chros, and resolvers - require reference excitation
(always AC for the synchros, resolvers, and
RVDT/LVDTs), and analog-to-digital conversion. S/D
Potentiometers also require the same amount of sig- CONVERTER
nal conditioning electronics as do the disc encoders.
In rare instances, synchros and resolvers do not
require signal conditioning, because they are low
COMPUTER
impedance devices, self-isolated from ground-loop I/O BUS
induced noise, and capable of driving the S/D or R/D
converter directly, as shown in Figure 1.8. Figure 1.8. Synchros and Resolvers generally do
RVDT/LVDTs, although similar to a resolver, require not require signal conditioning.
a few additional parts to match the transducer output
to the converter. An example is shown in Figure 1.9.
SJ
29
PHASE C2
COMP
When considering performance, reliability, cost and R5
10k
application convenience, the synchro/resolver con- FULL
SO
35
SCALE 10k
verter combination of Figure 1.8 is the logical choice TO V R2 R1 SG e
34 24
for angle-data measurement. (PIN 25)
S
33

The remainder of this handbook is devoted to the elec- R

32
tronic circuits used to convert and process shaft-angle DTC-193000
data developed by synchros and resolvers. There is a V 25
LVDT DATA
separate chapter describing RVDT/LVDTs and their RO
31
converters as a specialized version of an R/D. The RI
36
devices considered will include both synchro/resolver- C1
OSC
19
to-digital and digital-to-synchro/resolver types. +
RF1 A
21 23
FREQ
Fundamental Mathematical Relationships in R4
RF2 BIT
Synchro/Resolver Equipment 22 18
20
AMPL
TO V R3 RM
Before proceeding to study converter design, it will (PIN 25)
be necessary to review the nature of the signals pro-
duced by, or accepted by, synchro and resolver com- Figure 1.9. RVDT/LVDT Interconnect to Converter.
ponents. First, let us list the most common types of
synchro and resolver components, each of which is
illustrated in Figure 1.10.
ROTOR IS PRIMARY
• Synchro Control Transmitter (Figure 1.10a)
Accepts AC reference excitation at rotor terminals S1
R1 V1-2
(R1 and R2), and develops, at its stator terminals S2 V1-3
(S1, S2, and S3), a 3-wire AC output at the refer- R2 V2-3
S3
ence (or “carrier”) frequency. The amplitude ratios
of the line-to-line voltages of this 3-wire output rep- SHAFT INPUT θ
resent an explicit mathematical relationship to the
angular position of the shaft (θ degrees), with Figure 1.10a. Symbol for Control Transmitters and
respect to some reference shaft position, called Receivers.

4
 FUNDAMENTALS

zero degrees of rotation. In synchro language, a

control transmitter is called a “CX.”

• Synchro Control Transformer (Figure 1.10b) STATOR IS PRIMARY

Accepts, at its 3-wire stator terminals (S1, S2, and S1
S3), a set of carrier-frequency signals of the type R1
θ S2 SIN (θ − φ)
produced by a synchro control transmitter (or CX), R2
corresponding electrically to some shaft angle θ. It S3
produces, at its rotor terminals (R1 and R2), SHAFT INPUT φ
a carrier-frequency signal proportional to the sine
of the angular difference between the electrical
input angle, θ, and the mechanical angular posi-
tion of its shaft, φ ... in other words, the voltage
induced into the rotor is proportional to sin (θ - φ),
where φ is measured from some reference Figure 1.10b. Symbol for Control Transformer.
shaft position, called zero degrees of rotation.
The synchro shorthand for this component is “CT.”

• Control Differential Transmitter (Figure 1.10c)

Accepts, at its 3-wire stator terminals, a set of
carrier-frequency signals of the type produced by STATOR IS PRIMARY
a CX, the line-to-line amplitude ratios of which S1 R1
(S1, S2, and S3) correspond to some (remote)
θ S2 R2
shaft angle θ. Produces, at its 3 rotor terminals
(R1, R2, and R3), a 3-wire set of carrier-frequen- S3 R3
cy signals whose line-to-line amplitude ratios SHAFT INPUT φ
represent the difference between the input
angle θ and the mechanical angular position of its
shaft ... in other words, the line-to-line voltage
ratios induced into the rotor represent the angle (θ
- φ), where φ is measured from some reference Figure 1.10c. Symbol for Differential Transmitters
shaft position, called zero degrees rotation. In and Differential Receivers.
synchro language, the symbol for this component
is “CDX.”

• Resolver (Figure 1.10d)

EITHER ROTOR OR STATOR
Accepts at its 2-wire rotor terminals (R1 and R2), S2
MAY BE THE PRIMARY Cos θ
an AC reference excitation and produces, at S4
a pair of 2-wire output terminals (connected to iso-
lated stator windings, a pair of voltages that are at
R1 S1
the carrier frequency, and with amplitudes that are Sin θ
proportional, respectively, to the sine (S1 and S3) R2 S3
and cosine (S2 and S4) of the angular position of
the shaft ... in other words, the voltages induced SHAFT INPUT θ
into the stator winding will be K sinθ sinω(t) and K
cosθ sinω(t), where K is the transformation ratio,
θ is the shaft rotation from some reference zero- Figure 1.10d. Symbol for Resolver.

5
 FUNDAMENTALS

degree position, and ω = 2πf carrier frequency.

The symbol for this component is “RS.” EITHER ROTOR OR STATOR MAY BE THE PRIMARY
S1 R1
• Transolver (Figure 1.10e)
R2
A bidirectional device (i.e., either rotor or stator
may be used as input) in which the rotor windings S3 R3
are in 3-wire synchro format (R1, R2, R3) but
S2 S4
whose stator windings are in 4-wire resolver for-
mat (S1, S2, S3, S4). It can convert signals from SHAFT INPUT θ
synchro to resolver format, can be used as a CT
Figure 1.10e. Symbol for Transolver.
(ignoring one stator winding) or as a CX (ignoring
the other stator winding). By rotating the shaft, the
device can rotate the reference axis (i.e., add to or
subtract from) of the angle that is being converted
from synchro to resolver (or resolver to synchro)
format. The symbol for this component is “TY.” S2 S3

COS θ
• The Scott-T Transformer (Figure 1.10f)
S1
Although this is not a rotary device, but merely two SYNCHRO RESOLVER
interconnected static transformers, it is included in S3 S4
this list of synchro/resolver components because it SIN θ
performs the same function as a transolver set at S1 1:1 S2
zero shaft position. It will transform signals from
synchro to resolver format, or vice versa. A solid
state equivalent of the Scott-T transformer can be Figure 1.10f. Scott-T Transformer.
implemented as shown in Figure 1.10g. It is com-
monly used in hybrid synchro converters as either
the input or output stage.

Torque Components S1 _
+ SIN
S3 +

Although torque elements are not, strictly speaking,

transducers, they are used in some control systems
to move indicators, position other synchros (e.g.,

Table 1.1
Torque and Control Components _
+ COS
S2 +
UNIT FUNCTION TORQUE CONTROL
Transmitters TX CX
Differential Transmitters TDX CDX
Torque Receivers TR —
Torque Differential Receivers TDR — WHERE: SIN ~ S3 - S1
Control Transformers — CT
COS ~ S2 - ( S1 + S3 ) 2
Torque Receiver Transmitters TRX — 2 3

Resolvers — RS
Transolvers — TY Figure 1.10g. Solid-State Scott-T Transformer.

6
 FUNDAMENTALS

“repeaters”), or perform other low-energy mechani- where the constants K1, K2, K3 are ideally equal, but
cal work. Table 1-1 relates torque components to the differ slightly in practice, and represent the rotor-sta-
analogous control components described above. tor transfer functions;

The most important fact about all synchro and
resolver signals is that they present information
about the angular position of a shaft in the form of
relative amplitudes of a carrier wave. All signals, rotor
and stator, input and output, are at the same fre-
quency, and (except for imperfections in the compo-
nents) in perfect time-phase synchronization.
Although it is common to speak of the “phase angle”
of the shaft, and of the winding as a “3-phase” (syn-
chro) or “2-phase” (resolver), all carrier signals are
sine waves, in phase with all others in the system...
except for the imperfections and undesired side-
effects to be discussed later. To differentiate
between time-phase angle and shaft-position angles
(or their electrical equivalents), we refer to the latter
as “spatial-phase” angles.
A 3-wire set of synchro signals (see Figure 1.10a),
measured between pairs of terminals, S1, S2 and
S3, corresponding to the spacial phase angle, would
be represented mathematically as:
α1, α2, and α3, are ideally zero (or small and equal),
but are appreciable in practice, and represent the
rotor-stator time-phase shift at the carrier frequency;
and ω = 2πf, where f is the carrier (or reference) fre-
quency used to excite the system.
With these variables accounted for the basic synchro
signal relationship is a shown in Figure 1.11a.
Similarly, a 4-wire set of resolver signals (see Figure
1.10d) measured at terminals S1 and S3 (Vx), S2
and S4 (Vy), and corresponding to the spacial phase
angle θ, would be represented mathematically by:
Vx = K x sin θ sin (ωt + α x )
Vy = K y cos θ sin (ωt + α y )
where Kx and Ky are ideally equal transfer-function
constants like K1, K2, and K3;

V3-1 = K 1 sinθ sin (ωt + α 1) αx and αy are ideally zero time-phase shifts, like α1,
V2-3 = K 2 sin (θ + 120˚) sin (ωt + α 2) α2, and α3;

V 1-2 = K 3 sin (θ - 120˚) sin (ωt + α 3 )

and ω = 2πf where f is the same as in the synchro
equations.

S3-S1 = V SIN(θ)
+V MAX +V S4-S2 = V COS(θ)
MAX MAX MAX

In Phase In Phase
with RH-RL with RH-RL

360 360
0 0
30 90 150 210 270 330 θ 30 90 150 210 270 330
CCW
(DEGREES) θ (DEGREES)
CCW
Out of Phase Out of Phase
with RH-RL with RH-RL

-V -V
MAX MAX
S2-S3 = V SIN(θ + 120°)
MAX S3-S1 = V SIN(θ)
MAX
S1-S2 = V SIN(θ + 240˚)
MAX

Standard Synchro Control Transmitter (CX) Outputs as a Function of Standard Resolver Control Transmitter (RX) Outputs as a Function of
CCW Rotation From Electrical Zero (EZ). CCW Rotation From Electrical Zero (EZ).

Figure 1.11a. Synchro Signal Relationships. Figure 1.11b. Resolver Signal Relationships.

7
 FUNDAMENTALS

With these variables accounted for the basic resolver
signal relationship is a shown in Figure 1.11b.
Thus, for any static spatial angle θ, the outputs of a syn-
chro or a resolver are constant-amplitude sine waves at
the carrier frequency. In resolver format, ignoring
imperfections, the ratio of the amplitudes would be:
Vx sin θ
= = tan θ
Vy cos θ
That is, regardless of dθ/dt, the rotational velocity of
the shaft, or even of d2θ/dt2, the angular acceleration,
the value of θ is always given by:
Vx
θ = tan -1
Vy
However, there is an undesired effect in synchros and
resolvers called “speed voltage,” which can cause
appreciable deviations from the ideal relationship stat-
ed above. Speed voltage is discussed in Section VII.

This ratio is independent of the frequency and Speed voltage is only one of several undesirable
amplitude of the reference excitation (carrier fre- effects that cause synchro and resolver behavior to
quency and amplitude). depart from the ideal relationships discussed above.
Among the others are: harmonic distortion; quadra-
Similarly, for the same static spatial angle θ, the ture components (of output voltage); loading (of or by
ratios of the amplitudes of the synchro-format sig- the synchro or resolver); time-phase shift in the syn-
nals, ignoring imperfections, would be: chro or resolver (the parameter α, mentioned above);
and nonlinearities in the synchro or resolver - i.e.,
departures, due to mechanical imperfections in the
V3-1 sin (θ)
= magnetic or windings that cause departure from the
V2-3 sin (θ + 120˚)
Note that this ideal transfer functions described above. All of these
set of ratios is a are discussed in some detail in Section VII.
single position, θ,
V2-3 sin (θ + 120˚)
= and is the same
V1-2 sin (θ - 120˚) information as is
As a final item in our discussion of useful mathematical
contained in Vx/Vy relationships, let us examine the nature of digital sig-
above. nals. A digital signal consists of a set of voltage levels
V1-2 sin (θ - 120˚) (or current or resistance levels), at a set of terminals,
=
V3-1 sin (θ) each of which has been reassigned a certain “weight”
(i.e., a certain relative importance), in accordance with
a certain “code”. The most common code is the so
These ratios are independent of the frequency called “natural binary” code, in which the weight of
and amplitude of the reference excitations, as in each successive voltage-level terminal, from the small-
the resolver-format case, above. est to the largest, is given by the simple relationship:

As we shall see, all data-conversion techniques in n-1

current use operate on resolver-format (sin/cos) sig-
nals, for convenience. This is done by converting
from synchro to resolver-format before digitizing or
operating on the signals.
So far, we have spoken only of static shaft angles. In
practical systems, of course, θ changes, sometimes
rapidly, sometimes slowly and sometimes intermit-
tently. At all times, however, the instantaneous value
of θ corresponds to the instantaneous ratios of Vx/Vy.
weight = 2
where n is the number of terminals, which varies
from 1 to N (the maximum number of terminals). In
a digital signal, the voltage level at each terminal
may have either one of only two values, nominally:
The ONE state (for example, +4 Volts)
The ZERO state (for example, 0 Volts)

8
 FUNDAMENTALS

The examples given are completely arbitrary, the
ONE and ZERO states may be any two easily distin-
guished values. All that matters is that they be dif-
ferent enough so that noise, drift, and other circuit or
signal imperfections are not able to create any doubt
as to which state exists at a particular terminal.
Each terminal in a set is said to present a “bit” of
information, while the entire set, in the pre-assigned
sequence, is called a “word.” The 10-bit digital word:
1101000101
would represent voltage values of +4, +4, 0, +4, 0, 0,
0, +4, 0, +4 Volts and the conventional way of writing
Note that the maximum value that can be represent-
ed by a 10-bit word is (when all bits are in the ONE
state) is (210 -1) =1,023, or one less than 210. The
resolution to which the digital word can be varied
then is ±LSB, which is:
1
Resolution =
2n
But the digital word need not be interpreted in terms
of an LSB=1. In the case of angle data, for example,
we might set the maximum value of an N-bit word
equal to 360°, so that
n=N

the word would indicate that the extreme-right-hand Σ

n=1
= (2 N - 1 + 1) = 360˚
bit (a one, in this example), would be the least-signif-
icant bit (or LSB) - i.e., its weight would be: but this would, for most values of N, give us rather
inconvenient values for each bit. A more appropriate
LSB = 2 0 = 1 scheme is to set the MSB=180°. Then the bits would
have values in descending order, of:
with respect to the extreme-left-hand bit (also a ONE in this
example), which is, by convention, the most-significant-bit
(or MSB), the weight of which (relative to the LSB) is: N-1
(MSB) 2 = 180˚
N-2
MSB = 2 n-1 = 2 9 = 512 2 = 90˚
N-3
2 = 45˚
In other words, a ONE level in the MSB position (i.e.,
...

a +4 V ONE state on the MSB terminal) has 512

times as much weight as a ONE in the LSB position.
(LSB) 2
0
= ( 2180˚
N - 1 )˚

The actual value of the digital word 1101000101 is

found by adding the ONE bits, in proper weight, and
to count the ZERO bits as zero:
In this scheme, then, a 10-bit digital word in natural
9
(MSB) 1 = 2 = 512 binary code would have a resolution of:
1 = 2 8 = 256
0 = 0 = 000
± 1LSB = 360˚ ≅ 0.35˚
1 = 2 6 = 064 1024
0 = 0 = 000
0 = 0 = 000 Note also that the first two bits of any natural-binary-
0 = 0 = 000 coded digital word scaled in the manner described
1 = 2 2 = 004
above determine the quadrant in which the angle lies
(see pages 47 and 48 for a detailed explanation).
0 = 0 = 000
(LSB) 1 = 2 0 = 001
837

9
 FUNDAMENTALS

CONTROL CONTROL
Typical Synchro/Resolver System Architecture TRANSMITTER TRANSFORMER
SERVO
CX CT
MOTOR

Synchro and resolver components can be intercon- VR M

nected and combined (mechanically and electrically) GEAR TRAIN

with other devices and circuits in hundreds - perhaps θ1 θ2
thousands - of useful configurations. A number of
these combinations are shown in Section IX of this
handbook, but, before considering them it would be MECH LOAD

best to review a “pre-digital” use of synchros in the

all-analog configurations in which these components Figure 1.12a. Typical Electromechanical Follow-up
were originally used. Servo.

Single-Speed System SOLID-STATE

CONTROL
TRANSMITTER
CONTROL
θ1 TRANSFORMER SERVO
Figure 1.12a shows what might be called the “clas- CT AMPL MOTOR

sic” combination of synchro components into an DIGITAL

θIN
D/S M

electro-mechanical follow-up mechanism. The input

θ2
angle (θ1) is established by the position command -
a setting of the shaft position of the control transmit-
ter, CX, by hand or by some director mechanism - MECH LOAD

and the position of the mechanical load (e.g., a valve,
a turntable, a tool-bit feed screw) is made to conform
to this command, rapidly and accurately. The
sequence of events is as follows:
(1) The CX puts out a 3-wire representation of θ1,
the position command.
(2) The CT transforms θ2 into a 2-wire signal pro-
portional to the sine of (θ1 - θ2).
(3) The output of the CT is amplified and used to
drive the servo motor.
(4) The servo motor positions the load, through the
gear train, which simultaneously drives the shaft of
the CT.
(5) When the load has reached the correct (com-
manded) position, θ1 = θ2, the output of the CT is
then zero, and the motor stops.
The above will be recognized as a vastly oversimpli-
fied description, but it should serve to identify the
function of each element in the follow-up servo.
Figure 1.12b. Follow-up Servo with D/S converter
replacing CX of Figure 1.12a.
With the advent of digital electronics, it became pos-
sible to replace one or more of the synchro (or
resolver) components in such a system by an accu-
rate, small, reliable, and economical electronic cir-
cuit. In the system of Figure 1.12a, for example, the
control transmitter could be replaced by a digital-to-
synchro converter, as shown in Figure 1.12b, which
would accept digital commands, from a programming
device - such as a computer, or a punched paper
tape, or a “Read-Only Memory” (ROM) - and produce
the input to the CT. Such a combination is called a
“hybrid” synchro system, because it combines
electromechanical and electronic devices for angular
data conversion.
In all the systems shown so far, only one or two
angles are involved in the data manipulation and
control. In many applications, as we shall see, many
angles may be measured, monitored, or controlled;
therefore, the systems shown are relatively simple
(although very important) examples.

10
 FUNDAMENTALS

MSB ECDX CT

SOLID-STATE
DIGITAL D/S ELECTRONIC M
INPUT θ1 CDX
CX (ANGLE SENSOR)
1 LSB
S1 θ3
RH S2 SOLID-STATE 2 183.9˚
SYNCHRO/DIGITAL DIGITAL
DIGITAL
RL S3 CONVERTER (θOUT)
DIGITAL INPUT θ2
DISPLAY
M
θ3 = θ1 − θ2 AT NULL MECH LOAD
θIN

Figure 1.14. Hybrid Follow-up Servo System with

Figure 1.13. Angle Position Readout. ECDX to add two angular inputs in digital format.
CONTROL
DIFFERENTIAL
TRANSMITTER
CDX β CT SERVO MOTOR
DIGITAL
DIGITAL D/S M COMPUTER
θ
MECHANICAL
LOAD
θ
α θ2

SOLID-STATE
CONTROL
M TRANSFORMER
MECH LOAD
(SSCT)
θ
β=θ−α
θ2 = β AT NULL REFERENCE
EXCITATION CX
Figure 1.15. Hybrid Follow-up Servo System with INPUT
D/S Converter and CDX used to produce output
equal to difference between two angular inputs, one Figure 1.16. Hybrid Follow-up Servo System Used
digital and one analog to Interface Computer with Motor-Driven Load.

In all of the synchro systems shown and discussed
so far, the relationship between θ (the shaft angle to
be monitored, measured, or controlled) and the
angular setting of the synchro or resolver transducer
has been a constant ... usually shown as unity (direct
coupling), but possibly geared up or down. In all
such “single-speed” systems, the product of dynam-
ic fidelity and resolution is the figure of merit - i.e.,
how fast one may track, measure, convert, and react
to, variations in θ, to an accuracy consistent with how
many bits of resolution.
See Figures 1.13 through 1.16 for examples of other
types of synchro systems.
Multispeed System
There is a type of synchro/resolver system (shown in
Figure 1.17) in which much higher accuracies and
resolution may be achieved. This is called a multi-
speed system.
A multispeed synchro system consists of two or more
synchros or resolvers geared together, usually with a
gear ratio of some whole number. The most common
are two-speed systems with ratios of 1:8, 1:16, 1:32,
1:36 but other ratios can also be found. To under-
stand how these systems achieve high accuracy let
us examine a typical two-speed system.
In the single-speed case (see Figure 1.12a) the sys-
tem will, essentially, have an accuracy dependent
upon the accuracy of the CT (we will assume a per-
fect transducer) and the positional resolution of the
servo loop. Assume we can position the CT with a
certain accuracy, say within ±0.1°. If we now gear this
CT to another with a gear ratio of 1:n (called a
“coarse” CT) where the CT we are positioning rotates
n turns for each single turn of the other, then 0.1° of
rotation of the fast CT (called the “fine” CT) will turn
the slow CT (called the “coarse” CT) 0.1÷n, so that an
inaccuracy in the fine CT position is effectively divid-
ed by the gear ratio (often called the speed ratio).

11
 FUNDAMENTALS

Perhaps the easiest way to explain their operation is TRANSDUCER

to examine a basic system as shown in Figure 1.18. 1XCX 1XCT
Assume θ = φ; that is, assume the control transform- ref: 1X OUTPUT
ers (CT) are at the same angle as the transmitters
(CX). For convenience let θ = φ = 0 so all synchros
are at 0°. Under these conditions the output of both nXCX nXCT
nX OUTPUT
CT’s will beat null, there will be no error signal from
either the one speed (1x) or n speed (nx) CT. I
N I
N

θ θ
Now assume we change the input shaft position by
some small amount, say 2°, so θ is not equal to φ.
The output of the 1xCT is now some value, E1xCT Figure 1.18. Two-Speed Servo Loop.
and since the nxCT is geared to it by 1:n the nxCT
output will be n times E1xCT. Since φ still equals 0°
the output of the 1xCT can be expressed as:
for changing θ

E 1xct = A sin (θ - φ) = A sin (2˚ - 0˚) error

θ
00 1800 360 0
E 1xct = A sin 2˚ error

θ
where A=F.S., and the nxCT output can be
expressed as: let n = 5

Figure 1.19. Relative RMS Magnitudes of Coarse

E 1xct = A sin (θ n - φn ) = A sin (2n˚ - 0˚)
and Fine Outputs.
E 1xct = A sin 2n˚

Note: 1x signifies that the coarse CX is connected we use it to drive a servo to position we can theoret-
directly to the shaft being monitored. It has a 1:1 ically increase our positioning resolution by a factor
relationship with it. of n.

It can be seen then that as an additional bonus the Let us examine why. If we have a servo loop which
error gradient at null out of the n speed CT is n times can position θ to a point where the null is less than
the one speed CT gradient (see Figure 1.19) and if some value, say 2mV, this will represent some posi-
tional resolution, say 0.2° (this figure is determined
"COARSE" "FINE"
by the loop gain of the system). Assume now that
SYNCHRO SYNCHRO
our servo system input is the 1xCT error voltage and
ANY ARBITRARY
RATIO*
we have driven to a 2 mV null. This means θ and φ
are still 0.2° apart. If we now switch the servo input
from the 1xCT output to the nxCT output, the servo
θ Sθ will see a 2n mV voltage and position θ so that the
SPEED RATIO=GEAR RATIO=S nxCT output is a 2 mV null and:
(FOR IDENTICAL NUMBER OF POLE PAIRS
SHAFT ON THE TWO SYNCHROS)
COUPLING
TRANSDUCERS φ = θ within 0.2˚ ÷ n
TO INPUT
*USUALLY 1:1
DATA
To implement such a system it is apparent that we
Figure 1.17. Two-Speed Synchro Transducer must have a means of determining when to switch
Configuration. from the coarse (1x) output to the fine (nx) output.

12

This can be accomplished with a sensor to monitor
the coarse output level and control which error signal
is used. The crossover level is set within 90° or less
of the fine speed null (approximately 3° in a 1:32 sys-
tem) to prevent hang ups at false nulls on the fine
output. Since the fine CT turns n times for one turn
of the coarse CT there will be n points where its out-
put will be at null, therefore, the fine error signal is
only used when it is within 90° of the true null. Or
more correctly when the coarse null is within (90°/n).
Stick-off Voltage
If Figure 1.20 is examined it can be seen that for both
even and odd ratios a fine and coarse stable null
exists together only at 0° (or 360°). A stable null is
defined as the point where the error signals pass
through zero in the positive direction. If a servo is set
up to drive towards 0° misalignment it will drive away
from 180° because the phase of the error signal for a
displacement will be opposite than that at 0°. An
unstable null will exist at 180° but the slightest dis-
turbance will cause it to drive to the correct null.
If the coarse/fine ratio is even, the unstable coarse
null at 180° will be accompanied by a stable fine null.
If the coarse/fine ratio is odd, the coarse and fine sig-
nals each have unstable nulls at 180°, and there is
no danger of the system accidentally remaining
aligned at 180°, but if an even ratio system happened
EVEN RATIO n = 8
1x (coarse)
360˚/0˚ 180˚ 360˚/0˚
nX (fine) n=EVEN
ODD RATIO n = 5
1x (coarse)
360˚/0˚ 180˚ 360˚/0˚
nX (fine) n=ODD
Figure 1.20. CT Voltage/Misalignment Curves for
Even and Odd Ratios.
13
FUNDAMENTALS
to be at 180° from the true stable null (as can happen
at power turn on or some forms of switched systems)
then the servo would sense the coarse null (even
though an unstable one) and switch to the fine error
signal. Since the fine error signal is at a stable null
the system would “lock in” at 180° from where it
should.
To enable even-ratio systems to function without the
possibility of nulling at 180°, a stick-off voltage is
added to the coarse control signal.
Figure 1.21 shows a simplified circuit for this pur-
pose. When a fixed AC voltage of the correct phase
is added to the coarse signal, and the stator of the
coarse control transformer (or transmitter) is suitably
repositioned, the coarse system can be made to null
at 180° of fine rotation, which is unstable fine null.
The null at 0° is unaffected.
In detail, the coarse control transformer signal/mis-
alignment curve is shifted obliquely so that it still
passes throughout the same null at 0° but a different
null at 180°. The stick-off voltage shifts the coarse
null horizontally by 90° of fine rotation, and the
coarse synchro offset shifts the error signal by a fur-
ther 90° of fine rotation. At 0° the two 90° changes
cancel; at 180° they add up to prevent a fine stable
null at 180°.
“Stick-off” voltage can be added to any even-ratio,
two-speed system, regardless of the method of
adding the coarse and fine signals. The voltage must
have the same phase as the normal coarse signal to
avoid introducing quadrature components at null. A
two-speed S/D converter is described in detail on
pages 33 through 36. Three-speed, four-speed, and
even more highly articulated synchros are practical,
although they are rarely used. In all multispeed ser-
vos, the accuracy of the gearing must be high
enough to support the added resolution provided by
the fine synchro.
Where mechanical gearing size and/or errors cannot
be tolerated, electrical two-speed synchros can be
used. Electrical two-speed synchros are devices
with two rotor/stator winding sets. The two-speed
 FUNDAMENTALS

AC
STICKOFF
COARSE CT VOLTAGE

I
n CROSS OVER
SWITCH

SENSOR
LEVEL
SWITCHED ERROR
VOLTAGE, Es

FINE CT

ES WITHOUT STICKOFF FALSE STABLE NULL

180
360/0 360/0

ES WITH STICKOFF & OFFSET COARSE CT

UNSTABLE STABLE
STABLE NULL
NULL NULL

OFFSET DUE TO
STICKOFF VOLTAGE

360/0 360/0
OFFSET DUE TO
180 COARSE CT
OFFSET

Figure 1.21. Unstable False Null Shifted by Adding ‘Stick-Off’ Voltage to Coarse Signal and Displacing
Coarse Control Transformer Output.

14
 FUNDAMENTALS

ratio (N:1) is achieved by having Nx as many in the
“fine” rotor/stator set than there are in the “coarse”
rotor/stator set. Since the individual rotor/stator sets
on an electrical two-speed synchro are brought out
separately to appropriate sets of terminal, they may
be treated (i.e., connected) in the same manner as
separate mechanical two-speed transducers.
The advantages of electrical two-speed synchros
(resolvers are also available in this configuration)
are: no inaccuracies due to gear train wear or back-
lash, increased reliability due to fewer moving parts,
lower driving torque required, and smaller size. With
all these things considered, the cost differential
between a mechanical two-speed arrangement (two
synchros and a gear train) and a single electrical
two-speed unit is marginal. Electrical two-speed syn-
chros are generally available in binary ratios, i.e., 8,
16, and 32 to 1. Electrically there is no difference
between electrical and mechanical units.
Digital Data Conversion Techniques for
Synchro/Resolver Systems
This handbook does not attempt to study every cir-
cuit technique ever used for synchro/resolver data
manipulation. It does not even attempt to present an
encyclopedic survey of every kind of circuit in current
use; instead, it reflects a selective concentration on
what authors deem to be the most important and
effective modern techniques. To justify our selec-
tions, we offer the following brief review of older con-
version techniques.

VX Vref
GATE ON
INPUT
R ZERO
GATE OFF
A CROSSING COUNTER
DETECTORS
VA
C
VY
INPUT CLOCK
PULSE IN DIGITAL VALUE OF θ

Vref
VX VA

VY

RESOLVER
Vref (OR SYNCHRO
PLUS SCOTT "T") θ

Figure 1.22. Single-RC Phase-Shift Synchro-Digital Converter.

VA

VB

VX
INPUT

A B

VA VB
VY 2θ
INPUT

Figure 1.23. Two-RC Phase-Shift S/D Converter (uses same zero-crossing detectors, gate, counter, and
clock-pulses as that of Figure 1.22).

15
 FUNDAMENTALS

1.Single-RC phase-shift approaches (Figure 1.22). Let us briefly consider each of them in turn, recog-
nizing that the examples of each type given here are
2.Double-RC phase-shift approaches (Figure 1.23). subject to wide variation.

3.Real-time-function-generator approaches The single-RC phase-shift synchro-to-digital

(Figure 1.24). converter shown in Figure 1.22 operates by com-
paring the zero-crossing times of the reference wave
4.Ratio-bounded harmonic oscillator approaches and the phase-shifted sine-to-cosine (resolver-for-
(Figure 1.25). mat) wave, VA at point A in the diagram. It can be
shown that, if ωRC=1 (where ω = 2π times the refer-
5.Demodulation of sine and cosine with µP and ence carrier frequency) the phase shift between the
A/Ds (Figure 1.26). voltage from point A to ground and the reference

FUNCTION DIGITAL SIGNALS (θ - φ)

φ GENERATOR
PROGRAMMING DIGITAL
CIRCUITRY OUTPUT
Vx FUNCTION ANALOG VOLTAGE =θ
GENERATOR PROPORTIONAL TO (θ - φ) WHEN
Vx f (φ) (θ - φ) IS
AT NULL
θin ANALOG A/D
COMPUTING CONVERTER
CIRCUITRY
Vy FUNCTION
GENERATOR Vy f (φ)

Figure 1.24. Real-Time Trigonometric — Function-Generator S/D Converter.

Vx
BOUND
A B

INTEGRATOR NO.1 INTEGRATOR NO.2 UNITY GAIN

INVERTER

Vy
BOUND

Figure 1.25. Harmonic Oscillator S/D Converter.

DIG SIN
SIN DC SIN
S1 DEMODULATOR A/D

DIGITAL
S2 SCOTT µP ANGLE
REF
T OUTPUT
DIG COS
COS DC COS
S3 DEMODULATOR A/D

REF

Figure 1.26. Demodulation, A/D, and µP approach to S/D.

16

wave is exactly equal to (θ−α). If α, the time-phase
error caused by rotor-to-stator phase lead, is small
compared to θ, the time interval (tθ) between the zero
crossings of VA and Vref is a measure of θ. In Figure
1.22, a counter totals the number digital clock pulse
during the time interval tθ, and the clock frequency is
scaled appropriately, to make the count read directly
in digitally coded angle.
It is readily apparent that the only advantage of the
single-RC S/D or R/D converter is its simplicity. The
disadvantages of this approach are:
• The difficulty of maintaining ωRC=1 due to instabil-
ity in the capacitor with time and temperature.
• The difficulty of maintaining ωRC=1 due to varia-
tions in the carrier frequency. (These may be
eliminated, at considerable expense, by generat-
ing the carrier in the converter, preferably by divid-
ing down from the clock frequency.)
• The difficulty of maintaining negligible time-phase
error (α) in the reference wave. (Some relief is
obtained by compensating the reference input by
using a lag network, but α varies with temperature,
θ, excitation, and from synchro to synchro.)
• Significant error due to noise, quadrature compo-
nents in Vx and Vy, and harmonics in Vx and Vy,
particularly around the zero (θ = 0°) and full scale
(θ = 360°).
• Staleness error, due to the fact that only one con-
version is made per cycle.
• The circuit will only work at one specific carrier fre-
quency.
The above list confines the single-RC phase-shift
converter to relatively low accuracy applications.
The double-RC phase-shift synchro-to-digital
converter shown in Figure 1.23 eliminates at least
two of the error sources that limit the performance of
the single-RC converter. In this approach, VA and VB
have equal but opposite phase shifts with respect to
17
FUNDAMENTALS
Vref. By measuring the time interval (t2θ) between
the zero crossing of VA and VB, and using it to gate
a clock pulse into the counter, the count may be
scaled to read directly in degrees of θ (i.e., at one-
half the clock-pulse frequency used in the single-RC
design). The disadvantages of this approach are the
same as those listed for the single-RC approach,
with the following exceptions:
• The time-phase error (α) in the Vref is no longer an
error factor.
• The reference carrier frequency need not be quite
as stable as before, but it is still a major error fac-
tor, and must still be internally generated, for even
moderate accuracy.
• There is a partial improvement in effective RC sta-
bility, due to the tendency of the capacitors to track
each other with temperature.
• There is an added difficulty in the double-RC
approach - a 180° anomaly that causes the same
reading at θ and θ ±180°. This requires special cir-
cuitry to prevent false readings.
All other error factors remain the same; nevertheless,
at considerable expense, the double-RC phase-shift
S/D or R/D converter can be made to perform at
moderate accuracies ... of the order of a worst-case
limit of error of 10 minutes.
The real-time trigonometric function-generator
approach of Figure 1.24 takes many forms - one of
which, and perhaps the most advanced, is analyzed
in great detail in Section V. In this generalized dis-
cussion, however, we shall categorize it as follows:
the resolver-format signals Vx and Vy are applied to
trigonometric function generators (tangent bridges or
sine/cosine non-linear multipliers) and, by manipulat-
ing the resultant generator outputs in accordance
with trigonometric identities, an analog voltage pro-
portional to the difference between θ and the func-
tion-generator setting φ is developed. If the integral
of this voltage is digitized, and the digital value fed
back, as φ, to program the bridge so as to drive (θ -
φ) to null zero, the digital value of φ will equal the

shaft angle θ. This scheme has the following advan-
tages over the two preceding approaches:
• It is a real-time, continuous measurement of θ;
hence, there is no staleness error.
• It is inherently a ratio technique (Vy/Vx) - always
an advantage in maintaining accuracy.
• It is independent of the carrier frequency - indeed
it is broadband, and will work over several
decades of frequency, without special designs.
• It makes it possible to reject quadrature compo-
nents.
• It makes it possible to reject most noise compo-
nents.
• It rejects most harmonic distortion, being responsive
only to differential harmonics between Vx and Vy.
• It is relatively independent of reference time-phase
error, α.
• There is no 180° anomaly.
Implementation of the real-time function-generator
approach was more expensive than either of the
foregoing schemes, but mass-production techniques
and integrated circuits have erased the cost differ-
ences. The real-time function-generator approach
can achieve state-of-the-art performance - accura-
cies better than ±2 seconds.
Now, let us consider an approach that has some of
the advantages of Figure 1.24 but also a few disad-
vantages. In the past it offered a good price perfor-
mance compromise but with the recent introduction
of monolithic R/Ds it is no longer a viable approach
18
FUNDAMENTALS
for new designs. It is discussed here only for histor-
ical purposes. This approach is called the ratio-
bounded harmonic oscillator circuit and is shown
in Figure 1.25. (This approach is analyzed in great
detail on pages 29 to 30.) In this technique, a pair of
integrators are cascaded with a unity-gain inverter,
into a closed loop with positive feedback, so that
they will oscillate a frequency determined by their
RC time constants. (Note that the oscillation fre-
quency need have no special relationship to the ref-
erence carrier frequency, except that it is usually
high, for conversion speed.) First, the integrators are
“bound” (i.e., presented with initial conditions) by
presetting their output voltages in the ratio Vx/Vy.
These voltages are obtained by simultaneous sam-
pling of Vx and Vy. Then, the loop is allowed to oscil-
late, and the ratio of the time interval between the
zero crossing of the signal at B in the positive going
direction to the total natural period of oscillation is
exactly proportional to θ. This ratio is digitized by
counting clock pulses, as in earlier schemes.
Indeed, the circuit of Figure 1.25 has some signifi-
cant disadvantages: It is not a real-time measure-
ment, but is, instead, a periodic technique, like the
phase-shift converters, and therefore suffers from
staleness error and is costly to produce compared to
modern tracking S/D or R/D designs.
The Demodulation, A/D, and µP approach to syn-
chro/resolver conversion has been used from time
to time but is now seldom used for new designs
because it burdens the µP, has significant staleness
errors, is susceptible to noise and cannot respond
adequately in a dynamic environment.
In this approach, shown in Figure 1.26, the sine and
cosine analog data is demodulated with the reference
to obtain DC sine and DC cosine. These are then
multiplexed into an A/D converter. The two data words
are then fed to the µP which determines the angle.
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

SECTION II

The Tracking Converter

Figure 2.1 is a functional block diagram of a 16-bit
synchro-to-digital tracking converter. Three-wire
synchro angle data are presented to a solid-state
Scott-T (see page 6) which translates them into two
signals, the amplitude of one being proportional to
the sine of θ (the angle to be digitized), and the
amplitude of the other being proportional to the
cosine of θ. (The amplitudes referred to are, of
course, the carrier amplitudes at the reference fre-
quency - i.e., the cosine wave is actually cosθ cosωt,
but the carrier term cosωt will be ignored in this dis-
cussion, because it will be removed in the demodu-
lator and, in theory, contains no data.)
A quadrant selector circuit contained in the control
transformer enables selection of the quadrant in
which θ lies, and automatically sets the polarities of
the sinθ and cosθ signals appropriately, for computa-
tional significance. The sinθ, cosθ outputs of the
quadrant selector are then fed to the sine and cosine
multipliers, also contained in the control transformer.
These multipliers are digitally programmed resistive
networks. The transfer function of each of these net-
works is determined by a digital input (which switch-
es in proportioned resistors), so that the instanta-
neous value of the output is the product of the instan-
taneous value of the analog input and the sine (or
cosine) of the digitally encoded angle φ. If the instan-
taneous value of the analog input to the sine multi-
plier is cosθ, and digitally encoded "word" presented
to the sine multiplier is φ, then the output is cosθ sinφ.

+REF -REF BIT

C1
LOS

S1
R1
S2
INPUT OPTION CONTROL e D
VEL
S3 TRANSFORMER GAIN DEMODULATOR
S4

HYSTERESIS INTEGRATOR
E

16-BIT VCO
UP/DOWN &
COUNTER TIMING

DATA
LATCH

INH EM DATA EL CB

Figure 2.1. Block Diagram - Synchro-to-Digital Converter

19
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS
Thus the two outputs of the multipliers are:
from the sine multiplier, cosθ sinφ
from the cosine multiplier sinθ cosφ
These outputs are fed to an operational subtractor, at
the differencing junction shown, so that the input fed
to the demodulator is:
sinθ cosφ – cosθ sinφ=sin(θ-φ)
The right-hand side of this trigonometric identity indi-
cates that the differencing-junction output represents
a carrier-frequency sine wave with an amplitude pro-
portional to the sine of the difference between θ (the
angle to be digitized) and φ (the angle stored in digi-
tal form in the up-down counter). This point is AC
error and is sometimes brought out of the converter
as "e."
The demodulator is also presented with the refer-
ence voltage, which has been isolated from the ref-
erence source and appropriately scaled by the refer-
ence isolation transformer or buffer. The output of
the demodulator is, then, an analog DC level, pro-
portional to: sin (θ – φ). In other words, the output of
the demodulator is the sine of the "error" between
the actual angular position of the synchro or resolver,
and the digitally encoded angle, θ, which is the out-
put of the counter. This point, the DC error, is also
sometimes brought out as "D" while the addition of a
threshold detector will give a Built-In-Test (BIT) flag.
Note that, for small errors, sin (error) ≅ (error). This
analog error signal is then fed to the circuit block
labeled "error processor and VCO." This circuit con-
sists essentially of an analog integrator whose output
(the time-integral of the error) controls the frequency
of a voltage-controlled oscillator (VCO). The VCO
produces "clock" pulses that are counted by the up-
down counter. The "sense" of the error (φ too high or
φ too low) is determined by the polarity of φ, and is
used to generate a counter control signal "U," which
determines whether the counter increments upward
or downward, with each successive clock pulse fed
to it. (For reasons discussed below, it is also conve-
nient to put a small "hysteresis" into the reaction of
20
this error processor.) This direction line, (U), can be
used to tell the system which direction the synchro or
resolver is moving. The "clock" or "toggle" line is
brought out as the converter busy (CB) signal. The
carry signal of the last stage of the counter can be
used as a major carry (MC) in multiturn applications.
Note that the two most significant bits of the angle φ,
stored in the up-down counter, are used to control
quadrant selection (as explained on pages 9 and
47), and the remaining 14 bits are fed (in parallel) to
the digital inputs of both multipliers. (It is also inter-
esting to note that the fact that the first two bits of φ
have been "stripped off," for quadrant selection does
not invalidate the explanations given above since
their data merely represent four sets of data from
zero in 90° increments added to the sine/cosine cal-
culations of the function generators, which are strict-
ly one-quadrant full-scale devices).
Finally, note that the up-down counter, like any
counter, is functionally an integrator - an incremental
integrator, but nevertheless an integrator. Therefore,
the tracking converter constitutes in itself a closed-
loop servomechanism (continuously attempting to
null the error to zero) with two lags ... two integrators
in series. This is called a "Type II" servo loop, which
has very decided advantages over Type I or Type 0
loops, as we shall see.
To appreciate the value of the Type II servo behavior
of this tracking converter, consider first that the shaft
of the synchro or resolver is not moving. Ignoring
inaccuracies, drifts, and the inevitable quantizing
error (e.g., ±1/2 LSB), the error should be zero
(θ = φ), and the digital output represents the true
shaft angle of the synchro or resolver.
Now, start the synchro or resolver shaft moving, and
allow it to accelerate uniformly, from dθ/dt = 0 to
dθ/dt = V. During the acceleration, an error will
develop, because the converter cannot instanta-
neously respond to the change of angular velocity.
However, since the VCO is controlled by an integra-
tor, the output of which is the integral of the error, the
greater the lag (between θ and φ), the faster will the
counter be called upon to "catch up." So when the
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

velocity becomes constant at V, the VCO will have
settled to a ratio of counting that exactly corresponds
to the rate of change in θ per unit time and instanta-
neously θ = φ. This means that dφ/dt will always equal
("track") dφ/dt without a velocity or position error. The
only errors, therefore, will be momentary (transient)
errors, during acceleration or deceleration.
Furthermore, the information produced by the track-
ing converter is always "fresh," being continually
updated, and always available, at the output of the
counter. Since dθ/dt tracks the input velocity it can
be brought out as a velocity (VEL) or tracking rate
signal which is of sufficient linearity in modern con-
verters to eliminate the need for a tachometer (tach-
o-generator) in many systems. Suitably scaled it can
be used as the velocity feedback signal to stabilize
the servo system or motor. A further discussion of
dynamic errors can be found in Section VII.
In older designs, use of the inhibit (INH) command
would lock the converter counter while data was trans-
ferred. This could introduce errors if the INH was
applied too long. If the counter was frozen for more
than a few updates the catch up or reacquisition time
could be significant. Modern designs now use latched
and buffered output configurations which eliminate
this problem and greatly simplify the interface.
the upper frequency limit of the VCO/counter combi-
nation. A typical high-performance 14-bit, 400 Hz
converter will track at 12 RPS (by no means the limit
of current technology), which corresponds to 12 x 214
counts/sec, or 196,608 counts/sec.
The other feature is indirectly related to tracking rate
also. To optimize recovery from velocity changes
(i.e., to minimize acceleration errors) the gain of the
error-processor integrator, and the sensitivity of the
VCO it drives, should both be high. This encourages
"hunting" or "jitter" around the null (zero-error) point,
due primarily to quantizing "noise." It is for this rea-
son that a small (one bit) hysteresis threshold is built
into the error processor. This threshold is much
smaller than the rated angular error.
Several other functions generally incorporated into
modern S/D or R/D converters to make them more
versatile are loss of signal (LOS) and enable (EL and
EM). LOS is used for system safety and as a diag-
nostic testing point. It is generated by monitoring the
input signals. Loss of both the sine and cosine sig-
nals at the same time will trigger the LOS flag. The
enable (EL and EM) line(s) enable the output buffers,
usually in two 8-bit bytes for use with either 8- or 16-
bit buses.

Two additional features of this converter should be
mentioned before concluding this description. One
concerns the fact that the velocity range over which
the device will track perfectly (i.e., over which the
velocity error will be zero) is determined primarily by
Because the tracking converter configuration of
Figure 2.1 is the most advanced and versatile device
of its kind in use today, we shall examine and analyze
its static and dynamic performance in more detail ...
principally in Section VII.

Table 2.1. Dynamic Characteristics

BANDWIDTH
PARAMETER UNITS
400 HZ 60 HZ
RESOLUTION BITS 10 12 14 16 10 12 14 16
Input Frequency Hertz 360 - 1000 47 - 1000
Tracking Rate RPS min. 160 40 10 2.5 40 10 2.5 0.61
Bandwidth Hertz 220 220 54 54 40 40 14 14
Ka 1/sec2 nominal 81.2k 81.2k 12.5k 12.5k 3k 3k 780 780
A1 1/sec nominal 2.0 2.0 0.31 0.31 0.29 0.29 0.078 0.078
A2 1/sec nominal 40k 40k 40k 40k 10k 10k 10k 10k
A 1/sec nominal 285 285 112 112 55 55 28 28
B 1/sec nominal 52 52 52 52 13 13 13 13
acc-1 LSB lag deg/sec2 nominal 28.4k 7.1k 275 69 1k 264 17.2 4.3
Settling Time ms max. 160 160 300 800 350 550 1400 3400

21
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

VELOCITY
OUT
ERROR PROCESSOR
VCO
CT A1 S + 1
+ e A2 DIGITAL
RESOLVER B
S POSITION
INPUT S S +1
- 10B OUT
(φ)

H=1

A2 S + 1
B WHERE:
CONVERTER TRANSFER FUNCTION G=
S2 S +1 A 2 = A1 A 2
10B

Figure 2.2. Transfer Function Block Diagram.

-1
2d
b/o
ct

4
2A
2A 2 2A
ω (rad/sec) ω (rad/sec)
B A -6
db 10B
/oc
t
CLOSED LOOP BW (Hz) = 2A
π

Figure 2.3.Open-Loop Bode Plot. Figure 2.4. Closed-Loop Bode Plot.

Briefly though, the dynamic performance of the
Type II tracking converter can be determined from
its transfer function block diagram (shown in Figure
2.2) and open- and closed-loop Bode plots (shown
in Figures 2.3 and 2.4).
Table 2.1 lists the parameters and dynamic characteris-
tics relating to one of DDC's leadership converters, the
SDC-14560 series. The values of the variables in the
transfer function equation are given on the applicable
data sheet. All DDC's tracking synchro-to-digital or
resolver-to-digital converters are critically damped and
have a typical small signal step response (100 LSB
step) as shown in Figure 2.5. Large signal step
response is governed by the maximum tracking rate of
the converter and the small signal settling time. A typi-
cal response is shown in Figure 2.6. In the newer
designs, such as the RDC-19220 series, bandwidth can
be selected to suit the particular application. A good rule
to follow is to keep the carrier frequency four times the
bandwidth. As the bandwidth becomes a larger per-
centage of the carrier it will become progressively more
jittery until at the extreme it will attempt to follow the car-
rier rather than the carrier envelope.
Use of a "Synthesized" Reference
As the error analysis (see Sections VII and VIII) of
the synchro-to-digital converter of Figure 2.1 will
show, one potentially significant source of error is

22
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

100
100

Output (LSBs)
Output (LSBs)

0
0
2 4 6 8 10
10 20 30 40 50
Time (ms)
Time (ms)

LOW BANDWIDTH - 10-BIT MODE HIGH BANDWIDTH - 10-BIT MODE

100 100
Output (LSBs)

Output (LSBs)
0 0

10 20 30 40 50 4 8 12 16 20
Time (ms) Time (ms)

LOW BANDWIDTH - 12-BIT MODE HIGH BANDWIDTH - 12-BIT MODE

100
100
Output (LSBs)

Output (LSBs)

0
0

10 20 30 40 50
2 4 6 8 10
Time (ms) Time (ms)

LOW BANDWIDTH - 14-BIT MODE HIGH BANDWIDTH - 14-BIT MODE

100 100
Output (LSBs)
Output (LSBs)

0 0

10 20 30 40 50 20 40 60 80 100
Time (ms) Time (ms)

LOW BANDWIDTH - 16-BIT MODE HIGH BANDWIDTH - 16-BIT MODE

Figure 2.5. Small Signal Step Response (100 LSB Step).

23
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

180 180

Output Angle (degrees)

Output Angle (degrees)

120 120

60 60

0 0

10 20 30 40 50 1 2 3 4 5
Time (ms) Time (ms)

LOW BANDWIDTH - 10-BIT MODE HIGH BANDWIDTH - 10-BIT MODE

180 180

Output Angle (degrees)

Output Angle (degrees)

120 120

60 60

0 0

10 20 30 40 50 2 4 6 8 10
Time (ms) Time (ms)

LOW BANDWIDTH - 12-BIT MODE HIGH BANDWIDTH - 12-BIT MODE

180 180
Output Angle (degrees)
Output Angle (degrees)

120 120

60 60

0 0

20 40 60 80 100 10 20 30 40 50
Time (ms) Time (ms)

LOW BANDWIDTH - 14-BIT MODE HIGH BANDWIDTH - 14-BIT MODE

180 180
Output Angle (degrees)
Output Angle (degrees)

120 120

60 60

0 0

20 40 60 80 100 20 40 60 80 100
Time (ms) Time (ms)

LOW BANDWIDTH - 16-BIT MODE HIGH BANDWIDTH - 16-BIT MODE

Figure 2.6. Large Signal Step Response (179° Step).

24
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

time phase shift (typically, a phase lead between the

rotor excitation reference signal and the voltages
induced in the stator windings of the synchro or
resolver). This can cause errors due to the fact that
the voltage applied to the rotor is also used as the
REFERENCE REFERENCE
reference input to the phase-sensitive demodulator.
VOLTAGE INPUT
Any appreciable lag or lead between this reference FROM TO
voltage and the modulated carrier will greatly reduce SYSTEM PHASE-LEAD CONVERTER
f (cos ωt) NETWORK f (cos ωt - α)
the ability of the demodulator to reject quadrature of (+α)
the synchro-input signals. (The sources of quadra-
ture components are discussed Section VIII, but pri- Figure 2.7. Phase-Advancing Network.
marily they comprise speed voltages induced into the
synchro or the resolver stator and differential static
phase shift from the rotor to each stator output.)
ence." A synthesized reference is a reference volt-
Although a first order correction can be made for age that is derived directly from the stator-generated
rotor/stator reference phase shift by introducing a signals (or from their Scott-T-transformed resolver-
phase-advancing network (Figure 2.7) between the format resultants). This technique is illustrated in
reference input and the demodulator, this phase cor- Figure 2.8.
rection can only be approximate, since the nominal
phase lead of a particular synchro or resolver design Before proceeding to a description of the reference
is not a tightly controlled parameter, and varies from synthesizer it should be said that it is necessary to
synchro to synchro, and also with temperature, load- generate a precise reference only in conversion sys-
ing, etc. Trimming the phase-correction network for a tems and instruments that require better than 1
particular synchro is practical, if somewhat inconve- minute accuracy ... or in conversion systems or
nient. A much better solution to the problem of ref- instruments that must operate in several modes hav-
erence phase errors is the use of "synthesized refer- ing different phase shifts.

QUADRANT SELECTOR

B SIN θ COS (ωt + α)

SYNCHRO SCOTT T
INPUT TRANSFORMER

B COS θ COS (ωt + α)

SYNTHESIZED
REFERENCE
K COS (ωt + α )
S1

S2

PHASE
EXTERNAL A COS (ωt ) COMPARATOR
REFERENCE
INPUT

REFERENCE GENERATOR

Figure 2.8. Method of Synthesizing a Reference Carrier without Phase Error.

25
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS
In Figure 2.8, we see a system in which a reference
synthesizer (or "reference generator," as it is some-
times called) receives three inputs:
1. The external reference, a carrier frequency signal
of essentially constant amplitude: A cos (ωt).
2. The sin θ output of the quadrant selector circuit
that is part of the tracking servo of Figure 2.1:
B sinθ cos (ωt+α). Note that is the carrier phase-
lead error between the external reference signal
and the stator input signals.
3. The cosθ output of the quadrant selector circuit of
Figure 2.1, which has the same phase-lead
error:
B cosθ cos(ωt+α).
Inputs 2 and 3, which are always of opposite polari-
ty, are subtracted algebraically into a single carrier
signal, and amplitude leveled. This signal can be
shown to be either K cos (ωt+α) or K cos
(ωt+α+180°), where K is a constant ... either in phase
or 180° out of phase with the desired reference, and
corrected for the carrier-phase-lead error. By com-
paring it with the external reference, in a "coarse"
phase comparator (which merely determines
whether or not it is within ±90° of the external refer-
ence), the logical decision is made between closing
S1 (using the leveled algebraic sum), or closing S2
(inverting the leveled algebraic sum). The output of
S1 or S2 is, then, the synthesized reference.
The time phase of the synthesized reference signal
can be dependably held to within ±5 minutes of the
sin (θ - φ) signal presented to the demodulator, since
phase shifts in the multipliers and differencing circuit
are very small at the carrier frequency. This level of
time-phase coherence ensures optimum quadrature
rejection in the demodulator .. at least 200:1, and as
much as 2000:1 in special designs.
The error introduced by a nominal 5.7° phase shift
and 0.1% quadrature in a converter without a syn-
thesized reference is approximately:
26
Eq = 0.1 tan 5.7˚ = 0.34'
100
While in a converter with a synthesized reference the
5.7° phase shift is effectively reduced to 5 minutes
(or 0.01°) and the error is approximately:
Eq = 0.1 tan 0.01˚ = 0.006'
100
A very small number indeed.
The use of a synthesized reference allows an engi-
neer to use the same circuit card or system design in
various applications without being concerned about
the phase shifts of the various synchro or resolver
transducers used.
Sampling A/D Converters
The tracking converter described first in this section
is a very high-performance device, and is the logical
choice for many applications; however, there are
other methods of digitizing the input data represent-
ing the angle θ, and at least two of them are worth
detailed study. Both take advantage of the fact that
all the data needed to determine the angle θ is
known in the carrier-envelope amplitudes of the two
resolver-format inputs at one selected instant of time
during the carrier cycle, provided that they are mea-
sured simultaneously ... assuming appropriate scal-
ing. Thus, if the reference input is:
Vref = K1cos (ωt), after correction for rotor-stator
phase shift, and the two resolver-format inputs are:
Vx = K2 sinθ cos(ωt);
and Vy = K3 cosθ cos(ωt),
then simultaneous samples of Vx and Vy will yield as
much information about sinθ and cosθ as would con-
tinuous observation.
The only essential requirement of this approach is to
read Vx and Vy simultaneously—we must measure
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

the envelope amplitudes at the same instant in time.
Reflection will show that the ideal time for this mea-
surement is at the peak of the carrier wave (either
positive or negative peak), when the carrier ampli-
tude is largest, so that the modulated carrier waves
(Vx and Vy ) will yield the largest signals with respect
to noise, drift, quadrature, and other imperfections in
the measuring circuits. This optimum sampling
instant is readily obtained from the reference signal
(after correcting it for synchro time-phase shift), by
first phase-shifting that signal by 90°, so that its zero-
crossing is at the correct time, then converting it by
clipping (squaring off) into a pulse of the desired
width, whose trailing edge occurs at the peak of the
phase-corrected reference wave.
Thus, most sampling converters use circuits that: (1)
generate a control pulse at the peak of the reference
wave; and (2) with that pulse, sample and hold - i.e.,
"freeze" - the amplitudes of Vx and Vy. Note that
this procedure yields DC levels proportional to
cosθθ and sinθθ.
Successive-Approximation Sampling Synchro-
to-Digital Converter
Figure 2.10 shows one of the two types of sampling
S/D converters to be studied in this section. Note
that the circuit contained within the dashed-line area,
labeled "SSCT,” is almost identical to the quadrant
selector and sine/cosine multiplier section of Figure
2.1, which was analyzed earlier in this section. In
fact, the only differences between Figures 2.1 and
2.10 are:
1. The signals presented to the SSCT are sampled
sine and cosine DC levels obtained by sampling
Vx and Vy, rather than continuous modulated car-
riers.
2. The circuit that establishes and stores the digital
angle output word is a sequentially addressed reg-
ister, rather than an up-down counter.

The simplified circuit and waveform diagrams of 3. The "error processor" performs a simpler function
Figure 2.9 illustrate the sampling procedure than the one used in Figure 2.1, as explained
described in the preceding paragraph. below.

STROBE GENERATED HERE

REFERENCE GENERATED HERE

PHASE CORRECTED
REFERENCE WAVE

RH
PHASE PEAK
REF IN

SHIFTER DETECTOR
RL

S/H STROBE LINE

DC=Vx peak
CH. 1 INPUT MODULE
D
I
S2 G
Vx I
SYNCHRO IN

T
A
CONVERTER L

S1 O
DC=Vy peak U
T
S3 P
U
SELECT T
CH.1
Vy

Figure 2.9. Sample/Hold Technique.

27
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS
SSCT
Vx
SAMPLING QUADRANT
θIN CIRCUIT SELECTOR
Vy
(SEE FIG. 2.9)
180 90
REGISTER
SEQUENTIAL ADDRESS LOGIC
Figure 2.10. Successive-Approximation S/D Converter.
The error processor comprises only two elements: a
comparator, which senses the polarity of the input
signal, sin (θ - φ); and a gated clock-pulse generator,
which produces an output pulse whenever sin (θ - φ)
is positive - i.e., whenever θ is greater than φ. Thus,
as long as θ exceeds φ, the error processor will feed
clock pulses to the register.
The complete S/D conversion procedure may now be
described as follows. First, assume that the register
has been cleared i.e., preset to all ZEROES, either
by the internal programming logic or by external
command, before the peak of the reference carrier
initiates its sample command. Then, the resolver-for-
mat outputs of the Scott-T synchro isolation trans-
former are sampled simultaneously, at the carrier
peak, by a circuit of the type shown in Figure 2.9.
The resultant DC levels are presented to the SSCT,
and sin (θ - φ) is computed.
At this point, all of the bits stored in the "n"-bit regis-
ter - i.e., all of the bits of the output word - are at
ZERO; so that the digital word presented to the sine
and cosine multipliers (as the angle φ) is a set of "n"
ZEROES.
Now begins a sequence of n logical "decisions,"
each of which follows the pattern of the first one. The
first three decisions will be described in detail:
(1) The most-significant bit of the register is set to
ONE, so that the word φ fed to the sine and
28
SINE SIN(θ - φ)
MULTIPLIER ERROR
PROCESSOR
COSINE
MULTIPLIER
DIGITAL
OUTPUT
CLOCK PULSES
cosine multipliers is 1000...0, corresponding to
φ =180°.
(2) The error processor is then "interrogated" - that
is, its output is examined. Now, if θ is larger than
180°, the value of sin (θ - φ) will be positive, and
the error processor will produce a ONE. The ONE
will allow the first stage (most significant bit) of the
output register to remain at the ONE state. If θ is
less than 180°, the error processor will not put out
a ONE, but a ZERO state ... which it should be, for
θ < 180°.
(3) The first decision has now been reached, and
the logic automatically proceeds to the next deci-
sion...that concerning the correct state for the sec-
ond most-significant bit (second stage of the reg-
ister).
(4) The second stage is set to ONE, so that the out-
put word is either 11000...0 (for θ > 180° in deci-
sion #1) or 01000...0 (for θ > 180° in decision #1.)
(5) Again, the error processor is interrogated. Since
decision #1 had two possible results, we shall
consider both.
(a) If θ is greater than 180°, the value of φ at this
interrogation is 11000...0, or 270°. Thus, if θ lies
between 270° and 360°, the second decision will
be to leave the second register stage in the ONE
state; and if θ lies between 180° and 270°, the
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

second decision will be to return the second stage
to the ZERO state.
(b) If θ is not greater than 180°, the value of φ at this
interrogation is 01000...0, or 90°. Thus, if θ lies
between 90° and 180°, the second decision will be
to leave the second register stage in the ONE
state; and if θ lies between 0° and 90°, the second
register stage will be returned to the ZERO state.
(6) Now, the decision-making process moves to the
third register stage, into which a ONE is intro-
duced...and the process continues. Note that this
third decision will have a "weight" of 45°, whereas
the second decision added or subtracted a possi-
ble 90°, and the first decision was the "largest
weight"...corresponding to ±180°.
The process described above continues through a
total of "n" decisions, each one causing the digital
output angle word to come closer to the exact value
of θ - "successively approximating" θ; hence the
name successive-approximation converter. The last
decision has the weight:
360˚
Least Significant Bit =
2n
θ are sampled only once per carrier period. If θ is
changing, a periodically varying velocity error will
result. This error is reduced almost to zero immedi-
ately after each new sample updates the register,
and thereafter increases to a maximum of:
Velocity Error = Velocity (in degrees second )
(in degrees) carrier frequency (in Hertz)
for constant velocity between samples.
The Sampling Harmonic Oscillator Synchro-to-
Digital Converter
The second type of sampling S/D converter that we
shall examine is illustrated in Figure 2.11. Although
not in common use anymore, it is discussed here for
historical purposes. Note that the sampling tech-
nique used in the converter is somewhat different
from that used in the sampling successive-approxi-
mation converter of Figure 2.10, in that the resolver-
format input signals are first fed to phase-sensitive
demodulators, the outputs of which are DC levels:
Vx = K sin θ
Vy = K cos θ

...and leaves the final result with ±1/2 LSB uncer-

PHASE
tainty. For example, for n = 13, 2² = 8,192, and the SENSITIVE S/H Vx
"quantization uncertainty" of the result is 360°/ 8192, SCOTT
DEMOD'R
Vref
SYNCHRO INPUT STROBE
"T"
or ±2.6 minutes. The resolution of the converter, INPUTS
XFMR INPUT
SIGNALS
then, is ±2.6 minutes, or about ±0.044 degrees. PHASE
SENSITIVE S/H Vy
DEMOD'R

The entire conversion process requires very little Vx S1 S2

Vy A
time - indeed, if every carrier peak is to be sampled
R1 C1 R2 C2 R R
and converted, the conversion must be completed in
less than one carrier period. Modern high-speed
converters are so fast that hundreds of complete,
S1
high-resolution conversions can be done in one car- CONTROL S2 GATE
LOGIC
rier period ... a fact that becomes important when CLOCK
STROBE PULSE
multiplexed systems are considered, later in this sec- GENERATOR DIGITAL
COUNTER
tion.

Despite this high conversion speed, the successive- DIGITAL OUTPUT

approximation converter can suffer from a "stale- Figure 2.11. Sampling Harmonic Oscillator S/D
ness" error, due to the fact that the data determining Converter.

29
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS
VX
(INITIAL
stants. The proof of this relationship between θ and
CONDITION) the stored count, for the initial conditions described,
X is given below.
Va

t=0 The voltage at point A can be shown to bear the fol-

lowing relationship to the initial conditions:
θRC
360 2πθ
RC (
VA = sin ω L t - 360˚ )
COUNTING

START STOPS
where ωL = 2πf L
f L = the natural oscillation frequency
Figure 2.12. Timing Diagram for Figure 2.11. of the loop,
where K is a constant and θ is the shaft angle to be t = the time, in seconds, measured from
digitized. It is these DC levels that are sampled at the moment of unclamping,
the appropriate time, to set the initial conditions of
and θ = the input angle to be digitized, in
the integrators in a harmonic oscillator converter.
degrees.

The remainder of the circuit comprises two main sec- If the integrator time constants are equal, and the
tions: inverter gain is unity, the natural loop-oscillation fre-
quency, fL, is given by:
(1) A two-integrator-plus-inverter chain, enclosed in
a positive-feedback loop. This loop, if "unclamped" 1
fL=
(by appropriate programming of the electronic 2πRC
switches S1 and S2), will oscillate at a frequency
determined solely in the integrator time constants. from which ωL = 1
RC

(2) A clock-pulse generator/digital-counter circuit that

can be gated on when the oscillator is unclamped,
so that V A = sin ( RCt - 360˚
2πθ
)
and gated off at the positive-going zero-crossing of
the voltage at point "A" in Figure 2.11. Note that if the time constants are not equal, the nat-
ural frequency is:
Initially, however, the loop is clamped, and prevented
from oscillating by the closure of the electronic 1
switches S1 and S2 which apply the sampled DC lev- 2π R 1, C 1 , R 2 , C 2 , A i
els, Vx and Vy, as initial conditions to the two inte-
grators. When the integrators have stabilized at where Ai is the gain of the inverter. Referring now to
these initial conditions, the switches are opened, the the waveform of Figure 2.12, we see that at point
oscillation begins (see Figure 2.12) and, simultane- "X", the positive zero crossing that stops the count-
ously, clock pulses are gated into the counter. When ing process, the following relationships hold:
the positive-going zero crossing is reached (point "X"
in Figure 2.12), the clock pulses are inhibited, and
counting stops. At that point, the total stored in the
sin ( RCt - 360˚
2πθ
)=0
counter is the digitized value of θ, the shaft
angle...provided only that the clock frequency bears or t = 2πθ
RC 360˚
the correct relationship to the integrator time con-

30
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

Clearly, then, if the clock rate is proportioned so that
some convenient number of pulses - say, 3600 - are
produced in 2πRC seconds, the count at point "X"
will be:
3600 (θ)
360
and the total stored in the counter will represent the
angle θ to a resolution of 0.1°, or 1 part in 3600. Any
desired resolution may be obtained (within the stabil-
ity and accuracy limits discussed below) by selecting
the appropriate clock frequency - usually some deci-
mal multiple of 360. Although it is easy and relative-
ly inexpensive to stabilize the frequency of a clock-
pulse generator, it is not easy to stabilize the RC time
constants of the integrators, and it is the ratio of the
clock frequency to the integrator time constants that
determines the attainable accuracy and meaningful
resolution ... ignoring all other sources of error. It is
this stability problem which has caused this tech-
nique to be abandoned by most manufacturers.
In the most advanced harmonic oscillator designs, a
phase-locked-loop clock generator is used to force
the clock frequency to track the unavoidable drift
integrator time-constant (and to compensate for
other error sources, as well), so that meaningful
overall accuracy can be achieved. The best worst-
case "static" error for this class of designs is ±6 min-
utes at considerable cost and complexity.
In Section III, the use of the harmonic oscillator for
synchro/DC and synchro/sine-cosine conversion will
be discussed.
Multiplexing Synchro-to-Digital Converters
Either of the two sampling S/D converters previously
described can be "shared" by a group of synchros or
resolvers, so that more than one source of input data
(i.e., more than one shaft angle) can be digitized by
the same converter circuitry, with a consequent sav-
ings, not only of initial equipment cost, but also of
required power-supply energy, space, and weight. In
addition, reliability is greatly enhanced, by reduction
in component count. Some additional circuitry is
always required, at least to perform the multiplexing
(switching) of the converter from sensor to sensor,
and some systems require the use of a separate set
of sample-hold circuits for each data input, as we
shall see. Consequently, the use of multiplexing is
less attractive for only two or three input sensors
than it is for many more.
In the simplest approach to sharing an S/D convert-
er (see Figure 2.13), the pair of sample-hold circuits
shown in Figure 2.9 are successively switched from

DUAL S/H
CIRCUIT S/D DIGITAL
CHANNEL 1 SCOTT
AS IN CONVERTER OUTPUT
T
FIGURE 2.9
θ1

STROBE
CHANNEL 2 SCOTT INPUT
T

θ2

CHANNEL "N" SCOTT MUX

T ADDRESS
INPUT
θn MULTIPLEXER

Figure 2.13. Multiplexed-Sample/Hold (Sequential Sampling) Approach to Sharing an S/D Converter.

31
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS
input to input, sampling each, holding the value dur-
ing conversion (which takes considerably less time
than one carrier cycle), and then sampling the next at
the peak of the next succeeding carrier cycle.
This scheme has the advantage of simplicity and
economy, since all that is added in the way of hard-
ware is a multiplexer module and one input isolation
module (synchro or resolver) per input sensor. The
disadvantage of successive-peak sampling is the
fact that it compounds the "staleness error" men-
tioned on page 28, by making each successive read-
ing one full carrier period later than the preceding
one; therefore, in multiplexing n inputs, the possible
"skew error", as it is called, between readings of the
first and the nth channels (as well as between two
successive readings of any channel) is n times the
possible skew error (due to staleness) of a convert-
er-per-channel system.
(There are some second-order advantages and dis-
advantages of the sequential-on-successive-peak
multiplexed approach to time-sharing a converter,
but they will be discussed later sections).
For data-acquisition systems in which the velocity of
one or more of the input channels is high, and for all
systems in which optimum accuracy is essential, a
CHANNEL 1 SCOTT
T CONVERTER
θ1
SCOTT
CHANNEL 2
T P
θ2
CHANNEL "N" SCOTT
T
θn
Figure 2.14. Simultaneous-Sample/Hold (Sequential Sampling) Approach to Sharing an S/D Converter.
32
much better technique for time-sharing the converter
is that shown in Figure 2.14 - the simultaneous-sam-
ple-and-hold approach. In this scheme, each input
sensor is equipped with its own pair of sample-holds,
and all sample-holds are strobed (activated) at the
same instant ... at carrier peak, as before. The mul-
tiplexer then switches the converter (only) from one
pair of "frozen" sine/cosine inputs to the next, paus-
ing at each input channel only long enough to digi-
tize the shaft-angle data and store or report it. If the
converter and multiplexer are fast enough, many
channels can thus be scanned and converted in a
single carrier cycle, thereby freeing the sample-
holds for simultaneous sampling of the very next car-
rier peak, thus minimizing the possible staleness
error to the single carrier-period value attained by
the circuits of Figures 2.10 and 2.11. Regardless of
scanning speed, however, the data sampled, held,
converted, and reported in a single pass is essen-
tially free of channel-to-channel skew, although it will
soon be "out of date" (stale).
Here again, there are many second-order effects to
consider, but they will merely be mentioned briefly
now, and considered in more detail in later sections:
• A possible source of skew is the aperture-time
uncertainty among the various sample-holds.
S/H S/D
M
U
L
T
S/H I
L
E
X
E
R
S/H
STROBE
INPUT
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

This is the uncertainty (often called "jitter") in the
interval between the application of the hold com-
mand and the actual "freezing" of the signal.
• The input/output (or transfer) gain of the sample-
holds may vary slightly, creating an error.
• The hold circuits have a finite "droop rate," caused
by switch leakage in the sample-hold circuit.
Note that all the above effects have the potential of
causing error even in single channel systems,
because they can create differences between the
sine and cosine sample obtained by a single pair of
sample-holds. Fortunately, modern high-perfor-
mance sample-holds are available that render all of
the above effects negligible, except in the most pre-
cise systems .. and even then, they can be mini-
mized.
The individual multiplexer channels must be subject-
ed to the same scrutiny. They, too, have settling time
and transfer-gain uncertainties, and can contribute
errors. And the isolation transformers do not all have
exactly the same time phase shifts, either. All of
these uncertainties, however, yield to the use of the
more advanced, modern hardware, and can almost
always be rendered negligible.
Finally, one must recognize that there is an error
source that cannot be controlled by the design of the
synchro-to-digital sampling/multiplexing/conversion
system: the random variation in rotor-to-stator time-
phase-shift in the sensors themselves. First-order
correction of these uncertainties is discussed later,
but they are always a final limitation on all multichan-
nel systems.
In the "addressing" of the multiplexer - i.e., the
means by which it is commanded to switch from
channel to channel - it is important to note that the
scanning of a set of channels need not be sequen-
tial. The multiplexer may be commanded to select
channels in any order. This capability is called "ran-
dom" scanning, and may take many forms - arbitrary
sequences that have no predictable pattern but
respond instead to a computer's reactive behavior; or
deliberate "skipping" of certain channels in a
sequence on certain passes; or attenuated-scan/full-
scan programs, in which some channels are exam-
ined in every pass, some in every tenth pass, etc.
Synchro- or Resolver-To-Digital Converters for
Two-Speed Systems
Earlier, on page 11, the characteristics of two-speed
synchros for very high-resolution applications were

sin
F cos
S1 G H
S2 ISOLATION sin
FINE QUADRANT FUNCTION
S3 XFMR cos GENERATOR
SYNCHRO SELECTOR
RH (FINE)
RL

COARSE D E
I ERROR
ERROR 1 DIGITAL
CROSS-OVER UP-DOWN COUNTER
DETECTOR
PROCESSOR 16 OUTPUT
FINE CB
ERROR INH
DIGITAL
S1 MULTIPLIER
ISOLATION
COARSE S2 XFMR sin
SYNCHRO QUADRANT FUNCTION
(COARSE)
S3 cos SELECTOR GENERATOR
A B C

Figure 2.15. Two-Speed S/D Converter.

33
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

introduced. Typical converter circuitry for digitizing
two-speed inputs is shown in Figure 2.15. Note its
similarity to the basic single-speed tracking convert-
er of Figure 2.1. In fact, if one considers only circuit
blocks A through E, the "coarse" converter, the cir-
cuits are identical. The "fine" converter feeds circuit
blocks F, G, and H, and shares blocks I, D, and E, the
error processor, cross-over detector and switching
circuit and the up-down counter, with the coarse-syn-
chro converter.
Each of the two sets of circuit blocks described
above constitutes, in itself, a single-speed tracking
converter. The only difference between them is that
the coarse loop has much lower resolution - i.e.,
fewer "bits". The fine-synchro converter provides the
additional resolution required by the application. The
number of bits provided by the coarse converter is
determined by the speed ratio, and is always at least
a fraction of a bit higher than the value of Nc, calcu-
lated from:
1 ≤ 90˚ of the fine synchro
2 Nc Vf /Vc
Where Nc is the resolution of the coarse-synchro
converter, and Vf/Vc is the speed ratio of the syn-
chros.
Circuit block I, the crossover detector, monitors the
sin (θ - φ) error signal produced at the differencing
junction following the sine/cosine multipliers of the

COARSE
GEAR

DIGITAL
1 PROCESSOR
OR DIGITAL
TWO-SPEED DATA
R/D
CONVERTER
18

FINE
GEAR TRANSDUCER

Figure 2.16. Microprocessor Combining of Two-Speed Data.

FINE

nx
R/D SD-15900
TWO-
SPEED RESULTANT
COMBINER ANGLE
1x
R/D

COARSE

Figure 2.17. Two-Speed Resolvers.

34

coarse converter, and, when that error signal falls
below approximately 90° of the fine converter it gates
the error signal of the fine converter into the error
processor.
It is important to note that the sine/cosine multipliers
of both converters are simultaneously presented with
the digital state of the up-down counter ... so that
when the coarse-to-fine crossover occurs, the transi-
tion is smooth, and the tracking continues without
significant discontinuity. Anytime the coarse-convert-
er error signal exceeds the crossover threshold of
the coarse converter, the crossover detector switch-
es the error processor back to the error signal pro-
duced by the coarse converter.
Although it may not be immediately obvious, it is true
that the behavior of this two-speed tracking convert-
er is exactly the same as that of the single-speed
tracking converter. Both are true Type II closed-loop
servos; both are free of velocity error, and both pre-
sent information that is always "fresh."
Hardware Combining of Two-Speed Data
With the advent of low-cost single-speed tracking
R/Ds and microprocessors being used in most sys-
tems, many engineers are using the microprocessor
to do the combining where two-speed configurations
are necessary. Figure 2.16 is a diagram of such a
S1
SYNCHRO
S2 CX WITH
SIMULATOR OR
S3 VERNIER
SIM 31200
RH RL RH RL
RH
RL
REFERENCE
SR 203
SYNCHRO ANGLE
INDICATOR
(a) (b)
Figure 2.18. Test Configurations, Single-Channel Tracking and Sampling Converters.
THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS
system. In place of a microprocessor, DDC has
developed a two-speed combining circuit (see Figure
2.17), the SD-15900, that will control the digital data
from two single-channel R/D converters (i.e., RDC-
19220 series) or a two-channel S/D or R/D hybrid
(i.e., SD-14620 series) and produce one digital word.
The combiner is available in two types: one to com-
bine a 1:36 system and the other is programmable
for 1:4, 1:8, 1:16, 1:32, and 1:64 systems.
The main advantages of using this approach are cost
and flexibility. Two-speed S/Ds, because they are
built in relatively small numbers, are costly and
restricted to 1:36 (except on special order) speed
ratios. With microprocessor combining of the data
from two single-speed converters, nonstandard
speed ratios may be used and even changed from
system to system under software control.
The biggest disadvantage of using this approach is
that the velocity of the fine-speed shaft is limited to
the tracking rate of the converter used whereas in the
crossover detector method it is the coarse-speed
shaft velocity that is limited to the tracking rate of the
converter. Thus the microprocessor combining
method has a 1/n (n=speed ratio) tracking rate limi-
tation compared to the crossover detector method.
The algorithm for combining the two single-speed
data words is to use the fine-speed data for accura-
+15 +5 -15 GND
S1 S1 LAMP &
MSB
S2 S2 DRIVER
TO
S3 S3
S/D
RH CONVERTER
RL
LAMP &
LSB
DRIVER
(c)
35
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

Table 2.2. Binary Angle Relationships

RESOLUTION 2N LSB AS % OF DEGREES MINUTES SECONDS RADIANS
N IN BITS FULL SCALE PER BIT PER BIT PER BIT PER BIT
0 1 100. 360. 21,600. 296,000. 6.28318531
1 2 50. 180. 10,800. 648,000. 3.14159265
2 4 25. 90. 5,400. 324,000. 1.57079633
3 8 12.5 45. 2,700. 162,000. .78539816
4 16 6.25 22.5 1,350. 81,000. .39269908
5 32 3.125 11.25 675. 40,500. .19634954
6 64 1.5625 5.625 337.5 20,250. .09817477
7 128 .78125 2.8125 168.75 10,125. .04908739
8 256 .390625 1.40625 84.375 5,062.5 .02454369
9 512 .1953125 .703125 42.1875 2,531.25 .01227185
10 1,024 .09765625 .3515625 21.09375 1,265.6250 .00613592
11 2,048 .04882813 .1757813 10.54688 632.8125 .00306796
12 4,096 .02441406 .0878906 5.27344 316.4063 .00153398
13 8,192 .01220703 .0439453 2.63682 158.2031 .00076699
14 16,384 .00610352 .0219727 1.31836 79.1016 .00038350
15 32,768 .00305176 .0109863 .65918 39.5508 .00019175
16 65,536 .00152588 .0054932 .32959 19.7754 .00009587
17 131,072 .00076294 .0027466 .16479 9.8877 .00004794
18 262,144 .00038147 .0013733 .08240 4.9438 .00002397
19 524,288 .00019074 .0006866 .04120 2.4719 .00001199
20 1,048,576 .00009537 .0003433 .02060 1.2360 .00000599

cy and the coarse-speed data for turns counting.
Since it is impossible to have the two synchros exact-
ly aligned it is necessary to correct the coarse-speed
data word (since it is used only to know which turn
the fine synchro is on). This can be done by taking
the coarse speed data and multiplying it by the
speed ratio n and doing an ambiguity analysis by
comparing the two MSBs of the fine data to the
appropriate two bits of the coarse data. If they are
equal then the coarse data is correct. If the fine data
is 1 LSB larger than the coarse data then add 1 LSB
to the coarse. If the fine data is 1 LSB smaller than
the coarse then subtract 1 LSB from the coarse data.
If the difference is greater than 1 LSB then the sys-
tem is out of sync and the synchros or resolvers must
be mechanically realigned. Once the data has been
corrected, discard the coarse data not needed to
simply count turns, and take the combined data word
and divide by the speed ratio n for the output data
word. If the speed ratios happen to be binary the
multiplication and divisions are trivial.
Testing S/D Converters
Testing or evaluating a synchro-to-digital or resolver-
to-digital converter will generally require a synchro
standard (a calibrated synchro with an accurate dial or
a synchro/resolver simulator), an interconnection box
or fixture, and LED bank or Digital Voltmeter (DVM).
Single Channel S/D or R/D Converter
Figure 2.18 illustrates configurations to test static
accuracy on single-channel tracking or sampling
converters. A LED driver or suitable readout is nec-
essary for each of the data outputs. (The circuit
shown in Figure 7.7, is recommended.) The syn-
chro/resolver standard is set to the test angles. The
angles corresponding to the LEDs that are on are
added and compared with the standard angle. Table
2.2 shows the relationship of angles vs. bits.
A typical room temperature error curve is shown in
Figure 2.19. Each quadrant is identical; the error
shown is for the first quadrant. Error limits are also
indicated for temperature extremes.
Multiplexed S/D Converters
Figure 2.20 illustrates the test setup for multiplexed
S/D converters. It requires, in addition to power sup-
plies, an accurate source of synchro or resolver sig-

36
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS
SPEC LIMIT OVER TEMP.
5

MINUTES OF ERROR
4
3
2
1
20 25 30 35 40 45 75 80 85 90
0
-1 5 10 15 50 55 60 65 70 ANGULAR
-2 DEGREES
-3
-4
-5
SPEC LIMIT OVER TEMP.

Figure 2.19. Room Temperature Error Curve.

MSB
SYNCHRO CHANNEL #1
STANDARD INPUT MODULE

CENTRAL
A
CONVERTER
PEAK CHANNEL #2
Vref SAMPLING STROBE INPUT MODULE
CB
MODULE LSB
B

CHANNEL #3
INPUT MODULE
TO LAMP
to A C DRIVERS
to B CHANNEL #4
INPUT MODULE
to C
to D D

DUAL
SCOTT S/H MUX
T (SEE
FIG 2.9)

Figure 2.20. Test Configuration for Multiplexed S/D Converters.

nals, a synchro standard or a synchro with a vernier
dial, and a synchro angle indicator. Either a rotary
switch or individual toggle switches can be used to
select the channel. The delay one-shot (OS) insures
that the conversion occurs after the completion of
sampling. It is recommended that the displays be
operated from a separate power supply to prevent
overloading of the test power supplies, which can
result in erratic behavior. (For example, surge cur-
rent when several displays are turned on can be
quite high, momentarily pulling the supply out of reg-
ulation.) Testing is accomplished in the same man-
ner as for single-channel S/D converters. The syn-
chro standard is set to the test angles, and values
corresponding to the lighted lamps are added and
compared to the input.
Dynamic Testing
In many applications, the dynamic performance of
S/D or R/D converters is very important. Figure 2.21
illustrates a relatively simple method of verifying the
tracking capability of a S/D or R/D converter. A D/S
or D/R is used to drive the S/D or R/D because of its
ease of programming and fast response. The clock
drives the up-down counter (up-down for direction
control) at various rates to cause the D/S or D/R con-
verter output to simulate a rotating synchro or

37
 THEORY OF OPERATION OF MODERN
S/D AND R/D CONVERTERS

resolver. The output of the counter is then compared
with the output of the converter in a digital compara-
tor and the difference is displayed as the loop error.
Usually, to make observation easier, the comparator
output has a freeze line to enable taking data on the
fly at random. This is called the "Monte Carlo" tech-
nique since the samples are random and the data
statistical. With units having position error outputs (e
or E), these can be monitored.
With the advent of converters with a high-quality ana-
log velocity output (VEL) suitable for use as the
velocity feedback in a servo loop, it has become nec-
essary for manufacturers to test this parameter
under conditions dynamically similar to how they are
expected to be used. This is done by driving an up-
down counter with a precision variable clock which in
turn drives a very accurate D/S or D/R converter.
The D/S or D/R converter drives the S/D or R/D
under test and the velocity output is monitored
through a low-pass RC filter by a DVM. The up-down
counter is run at various rates in both directions and
the input rate is compared with the output of the
DVM. Usually a PC is used to control the test and
compute the linearity, voltage scaling, full-scale
accuracy, zero offset and direction reversal error
(voltage gradient difference in clockwise and coun-
terclockwise directions). This is shown in Figure
2.22.
Checking acceleration is a much more difficult task
since a steady-state acceleration is not practical.
The velocity soon builds up to unreasonable levels.
Generally it is measured indirectly by determining
the closed-loop small-signal response and deriving
the acceleration constant from them.

DIGITAL
D/S S/D
UP-DOWN COMPARATOR
CONVERTER CONVERTER
COUNTER 0000

CLOCK

Figure 2.21. Dynamic Test Configuration for S/D Converters.

S1
S/D
PRECISION UP-DOWN PRECISION S2 VEL
UNDER DVM
CLOCK COUNTER D/S TEST
S3

PC
CONTROLLER

Figure 2.22. Analog Velocity Dynamic Test Diagram.

38

SECTION III
Theory of Operation of Synchro- or Resolver-to-
Linear DC Converters
A synchro-to-DC converter accepts 3-wire synchro
input signals (or 4-wire resolver input signals) and
puts out a bipolar DC (analog) signal proportional to
the shaft angle. In general, then,
Vout (DC) = ± Kθ
180˚
where K is the full-scale constant, typically 10 Volts,
so that +10 V = 180°, -10V = -180°, and 0V = 0°.
Any of the synchro-to-digital converters described
earlier in this handbook could be converted to a syn-
chro-to-DC converter by feeding its digital output to a
D/A converter with appropriate input coding. This is
the recommended approach for synchro- or resolver-
to-DC conversion. A typical example is illustrated in
Figure 3.1.
By suitably inverting the various interface lines vari-
ous code formats for the D/A can be accommodated.
Additionally, system offsets and zeroing can be
implemented digitally with an adder between the two
converters.
Some of the advantages of this technique are:
• Output DC not affected by variations in synchro
voltage or frequency. It is broadband.
• Ease of scaling.
S1
DC
S2 S/D D/A
OUTPUT
S3
Figure 3.1. Recommended Method of Converting
Synchro or Resolver Data to DC.
39
THEORY OF OPERATION OF
SYNCHRO-TO-DC CONVERTERS
• No staleness due to sampling. Use of a tracking
S/D eliminates staleness.
• High reliability due to minimal part count.
• Relatively low cost.
• Noise rejection characteristics of the tracking S/D
conversion.
The circuit of Figure 3.2 shows an older technique
used before the advent of lower cost data converters.
This older method used the harmonic oscillator con-
verter to produce a DC level proportional to θ.
Reference to pages 29 to 30 and Figure 2.11 will
show that the design of Figure 3.2 is essentially that
of a sampling harmonic oscillator synchro-to-digital
converter except for the output circuit. In Figure 2.11,
the time interval t, between the start of oscillation
and the positive-going zero crossing (Figure 2.12), is
used to control the number of clock pulses gated into
a binary counter. In Figure 3.2, a precisely scaled,
very linear voltage ramp, starting at -K1 Volts, is
allowed to rise for the time interval t, and then
"frozen" at that value. Since the value of t is given by:
t = θRC
360˚
where RC is the integrator time constant, and the
ramp voltage is given by:
e ramp = K 1 t
where -K1 is a constant that determines full scale,
then
e ramp = K 1RC θ
360˚
and K is proportioned conveniently ... usually, so that
when | θ | = 360˚ | e ramp | = 20 Volts
 THEORY OF OPERATION OF
SYNCHRO-TO-DC CONVERTERS
HARMONIC OSC

S3A S3B

R1

C1 C2 R1
S1 R1 S2 R2

V1 V2 -V2

SCOTT T
XFMR
ZERO
CROSSING
DETECTOR

SYNCHRO
INPUT
(θ)

TIMING PRECISION SAMPLE RATE

SYNCHRO ISOL.
REF XFMR & RAMP AND SMOOTHING OUTPUT
CONTROL GENERATOR HOLD

Figure 3.2. Older Method of Synchro-to-DC Conversion

The "freezing" of the output is accomplished by sam-
pling the ramp at the end of the harmonic oscillator
period, and storing the output in a sample-hold circuit
(see page 28 for details), so that the output remains
essentially constant until the next measurement is
made. Since a complete conversion is made once in
each carrier cycle, the maximum possible staleness
error is the same for this synchro-to-DC converter as
it was for the circuit of Figure 2.11:
velocity in degrees/second
velocity error = carrier frequency
for constant velocity between samples.
• As discussed on page 30, only converters with
some means of compensating for the inevitable
drift in the integrator time constant are capable of
reasonable accuracy. In the converter of Figure
3.2, this is accomplished by checking (between
conversions) the value of a half-period of the har-
monic oscillator - which should bring the output to
zero (halfway between -10V and +10V). Any off-
set from zero is used to correct for time-constant
drift. Thus, the circuit is recalibrated before each
measurement.
Synchro/Resolver-to-Nonvariant DC Sine/Cosine
Converters

Returning to the harmonic oscillator configuration of
Figure 3.2, we may note the following design con-
straints of the harmonic oscillator approach:
• The uncertainty of the zero-crossing detector is a
first-order error source.
• Any zero-offset or nonlinearity in the ramp is a
first-order error source.
• Any variation in "K", the constant determining the
slope of the ramp, is a first-order error source.
In many systems it is desirable to convert synchro
data to DC sine and cosine that does not vary with
the synchro reference amplitude. The preferred
method is to use a tracking S/D and a DC coupled
D/R converter as shown in Figure 3.3. In this config-
uration the D/R converter reference can be the sys-
tem DC reference, which is far more stable than the
AC reference. The output variations are now only
dependent on the DC reference and the synchro
angle. The prime source of errors in this method, as
in any DC system, are offsets. These must be care-
fully controlled to preserve angular integrity. Don't

40
 THEORY OF OPERATION OF
SYNCHRO-TO-DC CONVERTERS

forget, at angles where the sine or cosine are at zero
volts the impact of the offset will be maximized. The
transfer function of the S/D converter is given on the
data sheet for the particular product used while for
system purposes the transfer function of the D/R
converter is unity (to three decimal places).
Using this technique all the circuitry needed to com-
pensate for temperature, aging of components and
staleness can be eliminated thereby reducing parts
count, increasing reliability and reducing cost.
shown in Figure 3.4 - a configuration that accepts 3-
wire synchro data (or 4-wire resolver-format data)
and puts out two analog DC levels proportional to the
sine and cosine of the shaft angle sampled.
Although no longer used in new designs, it is exam-
ined here for its historical merit. The relationship
between the outputs and are:
eout (1) = Ksin θ
eout (2) = Kcos θ

Prior to the general availability of DC-coupled D/R where K is the scale factor, typically, 10 Volts.
converters, the most common method of achieving
synchro-to-nonvariant DC sine/cosine conversion Before examining the behavior of Figure 3.4, it would
was the sampling harmonic oscillator converter be useful to consider the fact that the sampled and

S1
SIN
DC- DC
S2 S/D COUPLED COS OUTPUT
D/R
S3

DC REFERENCE

Figure 3.3 Preferred Synchro-to-Nonvariant DC Sine/Cosine Converter.

SWITCH CONTROL LINES
S1
S2 CONTROL LOGIC
ZERO
CROSSING S3
DETECTOR
S/H K sin θ
UP-DOWN COUNTER

CLOCK S/H K cos θ

S2A S2B

R3

B C2 A
C1
S1 R1 S2 R2 R3

-V2

Vx S3

+
SCOTT Eref
T Vy (Establishes K)
XFMR

Figure 3.4 Older Method of Synchro-to-Nonvariant DC Sine/Cosine Converter.

41

held resolver-format signals (at points A and B in
Figure 3.4) are already DC signals proportional to
sinθ and cosθ. Unfortunately, these signals are also
proportional to the reference excitation, which can,
and does, vary over as wide a range as ±10% in
practical systems.
Furthermore, the rotor-to-stator transfer coefficient in
the synchro or resolver itself varies from unit to unit.
In another possible "short-cut" approach, the
resolver-format signals may be demodulated in
phase-sensitive detectors to produce DC sine/cosine
outputs; but this configuration, while essentially free
of speed-voltage is still entirely vulnerable to varia-
tions in reference excitation.
The circuit of Figure 3.4 produces nonvariant
sine/cosine outputs - i.e., outputs in which the scale
factor, K, is held constant within very narrow limits,
and is essentially independent of the reference exci-
tation.
Once again, it would be well to review pages 29 to
30, and Figure 2.11, to recall how the sampling har-
monic oscillator synchro-to-digital converter works.
The circuit of Figure 3.4 differs from that of Figure
2.11 in three important ways:
• The digital counter is an up-down counter.
• The output is not a digital word derived from the
counter state (at the end of the time interval t), but
is derived by sampling the levels at points A and B
in the circuit, and holding them for one carrier
cycle until the next (updated) measurement is
made.
• Additional programming logic is provided to imple-
ment the up-down count behavior described below.
The first phase of the conversion process is identical
to that described on pages 29 to 30, with the results
indicated in Figure 2.12. This phase involves:
strobed sampling and holding of the resolver-format
sine/cosine signals; setting the integrators to zero;
42
THEORY OF OPERATION OF
SYNCHRO-TO-DC CONVERTERS
applying the sampled data as initial conditions to the
integrators; unclamping the loop; and allowing it (and
the clock-pulse counter) to run until the positive zero-
crossing is reached. At the end of this phase, note
that point A is at zero (which is the condition that
stopped the counter), and point B is at maximum
(cosine of zero degrees=one). Note that the actual
magnitude of the voltage at B is proportional to the
reference excitation that generated the samples
used to set the initial conditions.
The second phase of the conversion, begins by set-
ting point B to a new level that is independent of the
rotor excitation, or any other source of scale factor
uncertainty. This new level is an accurately calibrat-
ed and stabilized voltage that will establish the
desired scale factor, K, in the final output. Now hav-
ing established this new set of initial conditions, the
loop is unclamped, and allowed to run for exactly the
same time interval as it ran in first phase ... a time
interval generated by allowing the counter to count
down, at the same clock-pulse rate, to zero. At this
point, the loop is again clamped, and points A and B
are sampled and held, to yield outputs that are
scaled correctly, and are proportional to the sine and
cosine of θ ... non-variant sine/cosine outputs.
Here again, as before, the clock-pulse generator
must be phase-locked to compensate for integrator-
RC drift, and there is a maximum staleness error of
one carrier cycle.
These then are a few of the techniques used to con-
vert synchro data to nonvariant DC sine/cosine data.
There is, of course, the method gaining in popularity,
of using a microprocessor, a sine/cosine ROM and
two D/A converters to achieve the same result.
Where the microprocessor is not fully utilized this is
a good approach but for designers not wishing to fur-
ther burden it the S/D and DC-coupled D/R method
is recommended.
Refer to Figure 11.26 for an illustration of a syn-
chro/resolver-to-DC converter using a DDC model
RDC-19220 series converter and the Burr Brown
DAC 703 digital-to-analog converter.

RVDT/LVDT-TO-DIGITAL CONVERTERS
SECTION IV
Rotary and Linear Variable Differential
Transformers
The Rotary and Linear Variable Differential
Transformers (RVDT/LVDT) shown in Figure 4.1, are
electromechanical transducers that provide an AC
analog output that is proportional to the displace-
ment of a separate movable magnetic core. Almost
unknown 45 years ago, it is widely used today
because of its extremely accurate and repeatable
null position, even in extreme environments.
Also known as reluctance transducers, they use the
ratio of the reluctance of the magnetic flux path of two
coils. Since it is a ratiometric device it is relatively
insensitive to temperature effects. Figure 4.2 is a
schematic presentation of a typical RVDT/LVDT. It
consists of a primary coil and two secondary coils
symmetrically spaced on either a cylindrical or rotary
form. A separate movable magnetic core inside the coil
assembly provides a path for the flux linking the coils.
When the primary coil is excited with an AC refer-
ence, voltages are induced in the secondary coils.
With the core placed symmetrically the flux paths to
Figure 4.1. Rotary and Linear Variable Differential Transformers.
43
THEORY OF MODERN
the two secondary coils have the same reluctance
and the induced voltages are equal in magnitude. By
connecting the coils in series the opposing output will
be at a null. When the core moves from null the flux
paths will have different reluctance and the output
voltages will be different. The coil toward which the
core moved will have a lower voltage. The differen-
tial output is linearly proportional to the displace-
ment. The phase of the output abruptly changes 180
degrees as the core moves through null.
The RVDT/LVDT-to-Digital Converter operates very
much like an R/D converter except it operates in a
linear fashion as opposed to a sin/cos trigonometric
fashion. DDC converters use the same custom IC
with pin programming to switch between the two
modes of operation.
The DTC-19300 block diagram shown in Figure 4.3
consists of four main parts: signal input conditioning,
a feedback loop (whose elements are the high accu-
racy bridge, demodulator, error processor, VCO and
up-down counter), a power oscillator to excite the
RVDT/LVDT, and digital interface circuitry (including
various latches and buffers).
 THEORY OF MODERN
RVDT/LVDT-TO-DIGITAL CONVERTERS

The converter receives the difference and sum volt- Functionally, the up-down counter is an incremental
ages at its inputs and internally produces a digital integrator. Therefore, there are two stages of inte-
position σ which tracks the differential position λ. gration which make the converter a type II tracking
servo. In type II servo, the VCO always settles to the
A high accuracy bridge is used to compute λ – σ, counting rate which makes the dλ/dt equal dσ/dt
where: without lag. The output data will always be fresh and
available as long as the maximum tracking rate of the
λ = the RVDT/LVDTs core position converter is not exceeded.

σ = the digital position contained in the converter's Modern RVDT/LVDT converters have output trans-
up-down counter. parent latches and tri-state buffers for easy data

The tracking process consists of continually adjust-

ing σ to make λ – σ approach zero so that σ will rep-
resent the core's position, λ.

The ratios bridge output is fed to a demodulator whose

output is an analog DC level proportional to
λ – σ. The error processor receives its input from the
demodulator and integrates the error signal λ – σ
which then drives a voltage-controlled oscillator (VCO). Figure 4.2. LVDT Schematic. (also see Figure 1.6)
PHASE
COMP
10k 10k
C2
R1 R5

35 29
SO SJ DTC-19300

18
ZERO SET REFERENCE BIT
BIT
TIMING CONDITIONER DETECT

26
FULL VEL
SCALE
LVDT R2 34 SG -
PROG DIFF SIG
GAIN HIGH
+ AMP ERROR DEMOD ERROR VCO
ACCURACY
REF AMP PROCESSOR
RATIO BRIDGE U T
1 LSB ANTILITTER
33 S SUM FEEDBACK
DIF (REF)
32 R GAIN
24
14 BIT BRIDGE
e
TRANSPARENT
25 LATCH
V
14 BIT U
31 RO U-D COUNTER U/D
T
36 RI 50 ns DELAY 23
A

14 BIT OUTPUT INH INHIBIT 17

C1 TRANSPARENT Q TRANSPARENT INH
19 OSC LATCH LATCH
+
30
+5 V
21 POWER
OSCILLATOR
FREQ POWER 27
3 STATE 3 STATE INTERNAL SUPPLY +15 V
R4 22 TTL BUFFER TTL BUFFER DC REF (11V) CONDITIONER
RM
AMPL
20 1 16
R3
EM BITS 1-6 BITS 7-14 EL

Figure 4.3. RVDT/LVDT-to-Digital Converter Block Diagram.

44
 THEORY OF MODERN
RVDT/LVDT-TO-DIGITAL CONVERTERS

transfer and interfacing to µP buses with the appro-
priate inhibits and enables. Built-in Test (BIT) circuits
are included which will toggle when the error
exceeds about 65 LSBs.
Historically, it has been difficult to provide
RVDT/LVDT-to-digital conversion without serious
data lag whose root cause was the phase shift vari-
ation with position off null. This necessitated a half
wave or full wave rectification with filter and A/D
approach which introduced the data lag. DDC's new
tracking type converters have eliminated this con-
cern by using a synthesized reference to drive the
demodulator. The reference drive is derived from
and is in phase with the RVDT/LVDT signal thereby
virtually eliminating errors due to the transducers
phase shift variations.
Dynamic performance and characteristics are the
same as their closely related R/D converters. Figure
4.4 shows the control loop block diagram and the
transfer function, and the open-loop Bode plot is
shown in Figure 4.5. Bandwidth can be determined
by the following formula:
2A
BW =
π ply, the RDC-19220 functions as a ratiometric track-
The variables can be found on the data sheet of the
specific converter.
Since RVDT/LVDTs are not standardized in their char-
acteristics, as are synchros and resolvers, the convert-
ers will have to be adjusted for input gain to accommo-
date the full-scale voltage of the particular type trans-
ducer. Similarly, the phase shift will have to be com-
pensated for. This usually requires a simple resistor
and capacitor trim done once with exact procedures
given on the converter data sheet. As in their R/D
counterparts, DDC's RVDT/LVDT converters have a
velocity (VEL) output for stabilizing the velocity loop of
a servo, thereby eliminating the need for a tachometer.
The converter is a ratiometric device which com-
pares the difference and the sum if the signal inputs
on the ±S and ±C. The RDC-19220 Series requires a
signal input conditioner (see Figure 4.6) whereas the
the DTC-19300 contains a signal input conditioner,
and is designed for phase shift compensation. When
using the RDC-19220, phase and amplitude mis-
matches must be kept to a minimum. Adjust the gain
accordingly using the capacitors and resistors in the
amplifier (signal conditioner) input to the converter.
The DDC RDC-19220 series resolver-to-digital con-
verters can be made to operate as RVDT/LVDT-to-
digital converters. By connecting the Resolution
Control inputs A and B to "0", "1", or the -5 volt sup-
ing linear converter. When linear ac inputs are
applied from a LVDT, the converter operates over
one quarter of its range. This results in two less bits

VELOCITY
OUT
ERROR PROCESSOR
VCO
CT A1 S + 1
RESOLVER + A2 DIGITAL
e B
INPUT S POSITION
(θ) S S +1
- 10B OUT
BW
ω (rad/sec)
H=1 B A
A2 S + 1
B
Open-Loop Transfer Function =
2 S +1
S
10B
Where A 2 = A 1 A 2

FIGURE 4.4. Transfer Function Block Diagram. FIGURE 4.5. Open loop Bode Plot.

45
 THEORY OF MODERN
RVDT/LVDT-TO-DIGITAL CONVERTERS

(the MSB and MSB -1) of resolution for LVDT mode
than are provided in resolver mode.
Some LVDT inputs will need to be scaled to be com-
patible with the converter input. Suggested compo-
nents for implementing the input scaling circuit are a
quad op amp, such as a 4741 type, and precision
thin-film resistors of 0.1% tolerance.
The data output of the RDC-19220 Series is binary
coded in LVDT mode. The most negative stroke of
the LVDT is represented by ALL ZEROS and the
most positive stroke of the LVDT is represented by
ALL ONES. The most significant 2 bits (2 MSBs)
may be used as overrange indicators. Positive over-
range is indicated by code "01" and negative over-
range is indicated by code "11." See Table 4.1.

Table 4.1. Digital Output Of The RDC-19220 Series In LVDT Mode

DIGITAL OUTPUT BIT
LVDT OUTPUT 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
+ Over Full Scale - LSB 0 1 X X X X X X X X X X X X X X
+ Full Travel - LSB 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1
+ 0.5 Travel 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0

+ 1 LSB 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1

Null 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0

- 1 LSB 0 0 0 1 1 1 1 1 0 1 1 1 0 1 1 1

- 0.5 Travel 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0

- Full Travel - LSB 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

- Over Full Travel - LSB 0 1 X X X X X X X X X X X X X X

x = Don’t care.

SIN

Rf
Ri -S
S1 -

Ri +S
S3 +

Rf

A GND
COS
Ri
Rf / 3
Ri
-C
-

Ri /2 +C
S2 +

Rf / 3

CONVERTER

FIGURE 4.6. RDC-19220 Series Input Signal Conditioning.

46
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

SECTION V

The Programmed-Function Generator Digital-to-
Synchro/Resolver Converter
Figure 5.1 is a general block diagram that will serve
to introduce the many different implementations of
both Digital-to-Synchro (D/S) and Digital-to-Resolver
(D/R) converters. As indicated, the input to a D/S or
D/R converter is a set of digitally coded “logic level”
(ONES and ZEROES) presenting the shaft angle, θ,
to some number of bits of resolution. As explained in
Section I, when natural binary coding is used the
most-significant bits of this input “word” represent
respectively: 180°, 90°, 45°, etc. Thus, an input word
beginning 11....etc. designates an angle in the fourth
quadrant, a word beginning 10.....etc., designates an
angle in the third quadrant, a word beginning
01.....etc. designates an angle in the second quad-
rant, and a word beginning 00.....etc. designates an
angle in the first quadrant. Clearly, then, the first two
most-significant bits of any pure binary-coded word
are the quadrant-designating bits. (The first three, by
similar reasoning, are the octant-designating bits.)
ing bits designate an angle between 0° and 45°. By
converting these bits into analog levels correspond-
ing to the sine and cosine of that angle (which lies,
as we have noted, between 0° and 90°), we may then
use the quadrant-designating bits to establish the
appropriate polarity for these analog levels, in accor-
dance with the following identities:
sin θ (2nd quadrant) = cos (θ-90°)
sin θ (3rd quadrant) = -sin (θ-180°)
sin θ (4th quadrant) = -cos (θ-270°)
cos θ (2nd quadrant) = -sin (θ-90°)
cos θ (3rd quadrant) = -cos (θ-180°)
cos θ (4th quadrant) = sin (θ-270°)
The application of these identities may be more read-
ily seen by examination of the following table:

The remaining (less-significant) bits of the digital

word determine the angle precisely by adding (to the Table 5.1. Quadrant Designation
cardinal quadrant value) some value between 0° (all
If first two MSB’s Then polarity of and polarity of
ZEROES) and 90° (all ONES). If we have set aside are: sinθ is: cosθ is:
the first three bits, for octant designation, the remain-
11 negative positive
10 negative negative
Vref
01 positive negative
00 positive positive

MSB sin
QUADRANT FUNCTION
SELECTOR GENERATION cos
DIGITAL A very similar table may be made for octant-desig-
INPUT
nation schemes, in which the first three MSB’s deter-
WORD
mine, not only the polarity of the analog level repre-
LSB
POWER
(OPTIONAL) senting the sine and cosine of, but also which of two
sin θ SCOTT-T
AMPLIFIER
XFMR available values shall be called the sine, and which
cos θ
shall be called the cosine. This need to select
RESOLVER FORMAT SYNCHRO FORMAT
OUTPUTS OUTPUTS between two available values arises from the trigono-
metric identity:
Figure 5.1. Basic Digital-to-Synchro/Resolver
Converter. sin θ = cos (90°-θ) for θ in the first quadrant.

47
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

Thus, if we have translated all but the first three
MSB’s into two analog voltages:
VA = sin θ (where 0 < θ < 45˚)
and VB = cos θ (where 0 < θ < 45˚)
then the following table can be used to operate VA
and VB so as to create the correct analog sine/cosine
polarities:
equal carrier frequency sine waves of opposite
phase. After quadrant selection, they are fed to the
inputs of the function generators. (Note that by
appropriate phasing, both function generators may
actually be sine multipliers - but it will be simpler,
perhaps, to think of them as sine and cosine multi-
pliers, as in the discussions above.)
The outputs of the function generators are, then,
accurate, resolver-format signals:

Table 5.2. Octant Designation Vx = K cos θ sin ωt

First 3 MSB’s Sin θ Cos θ Vy = K sin θ sin ωt
111 -VA +VA where K sin ωt is the carrier envelope
110 -VB +VA
101 -VB -VA
100 -VA -VB All that remains for D/R conversion is to provide suf-
011 +VA -VB ficient amplification (and, if necessary, isolation) to
010 +VB -VA drive a resolver. These power-output stages are
001 +VB +VA
000 +VA +VB described later in this section.

Clearly, then, by routing the first two (or first three)
most significant bits to a simple set of polarity/signal
selector logic circuits, we may reduce our problem to
trigonometric D/A conversion in only one quadrant
(or octant). That is what we have done in Figure 5.1,
in which the first two MSB’s are diverted to a quad-
rant selector circuit, and the remaining bits are used
to program 0°-90° sine and cosine function genera-
tors. These generators may be described as nonlin-
ear, bipolar, multiplying D/A converters, in which the
reference input signal is the carrier wave (Eref), and
the transfer function is either
For D/S conversion, an additional step is required:
the use of a “reversed” Scott-T transformer (see
Figure 5.1) to convert from 4-wire resolver format to
3-wire synchro format. As indicated in the diagram,
the power amplifiers are interposed between the
Scott-T and the multipliers.
The design constraints of this circuit are clearly
focused on the function generators and the power
amplifiers, since everything else in the device is a
logic circuit, it is not a major design concern.
Subsequent discussions will cover these constraints.

EA = Eref sinθ (sine function generator) Types of Function Generators

or EB = Eref cosθ (cosine function generator) Figure 5.2 shows four types of circuits currently used
for multiplying a reference (carrier) signal by the sine
where θ is the angle represented by the digital input. or cosine of a digital angle (θ):

NOTE: the specific design of these function generators
is perhaps one of the most widely discussed topics in
the synchro conversion field, but we shall reserve dis-
cussion of that subject until later in this section.
The reference voltage supplied to the D/S converter
is generally buffer-isolated, and converted into two
• Figure 5.2a applies the reference carrier to a multi-
section, multi-tapped ratio transformer, and uses
electronic switches to select non-linear spaced taps
corresponding to the desired input/output ratio - i.e.,
the ratio that corresponds to the sine (or cosine) of
the digitally coded angle. This is a precise and
extremely stable way of obtaining sine/cosine D/A

48
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS
DIGITAL INPUT

Vref
INPUT
OUTPUT

Figure 5.2a. Tapped-Ratio-Transformer Function Generator (greatly simplified).

DIGITAL INPUT DIGITAL INPUT

Vref Vref
INPUT INPUT

OUTPUT

OUTPUT

Figure 5.2b. Hybrid (Transformer/Resistor Network) Figure 5.2c. Weighted Resistor-Network Function
Function Generator (greatly simplified). Generator (simplified).

multiplication, but it is also the most expensive, DIGITAL INPUT

largest, and heaviest. It is most likely undesirable to

produce switching transients, and second order Vref
errors due to reference harmonics. INPUT

• Figure 5.2b is a variation of the tapped-ratio-trans-

former technique of Figure 5.2a, but with resistor
ratio sets substituted for the transformer(s) that
synthesize less-significant-bit increments which
are less critical as to both accuracy and stability.
This circuit is less precise and somewhat less sta-
ble, but also somewhat lower in cost, size, and
weight compared to the all-transformer approach
of figure 5.2a. It retains its sensitivity to error pro-
duced by reference harmonics.
• Figure 5.2c applies the reference signal to a resis-
tor-ratio network, electronically switched in
response to the digitally coded input. The resis-
tors are “weighted” in exactly the same way as the
taps in the tapped-transformer function generator
OUTPUT
etc.
Figure 5.2d. Linear/Selectively-Loaded Resistor-
Network Function Generator (simplified).
of Figure 5.2a, so as to create the sine (or cosine)
function. This technique can be made to approach
the precision of the tapped-transformer design by
using modern nichrome-film or (non-inductive)
wire-wound resistors, and has entirely satisfactory
accuracy and stability for one minute or even more
demanding applications...at a small fraction of the

49
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS
cost, size, and weight. Reference-harmonic effects
are negligible.
• Figure 5.2d is by far the most economical, small-
est, lightest, and simplest means of generating the
sine/cosine D/A multiplication. It uses a linear
resistor network, but achieves its sine or cosine
function non-linearity by selective loading of the
output of the ratio divider. For two minute long-
term accuracy over wide temperature ranges, this
approach has proved to be the logical choice,
because of its simplicity and economy. In the past,
this approach was optimized for angular accuracy
and as such had one characteristic that restricted
its usefulness in some applications. It exhibited a
scale factor variation as it generated the sine or
cosine function. Since the angle information is the
ratio of the sine/cosine outputs, and the scale fac-
tor variations of the two function generators track
each other, no appreciable angular error is intro-
duced. However, the absolute amplitudes varied
and some corrective measure, or some alternate
approach, was required for applications like vector
(polar-coordinate) plotting.
The Stored-Table-Look-up Digital-To-Synchro or
Digital-To-Resolver Converter
An alternative approach to generating synchro or
resolver analog signals is to use a ROM look-up
table with sine/cosine functions. The output of the
ROM can then be fed to two appropriately scaled
four-quadrant multiplying D/A converters using the
AC reference for the analog channel input.
The major disadvantages of this approach are the
burden on the µP and the number of components
needed to implement it compared to a dedicated
D/S. Modern D/S hybrids have double-buffered
inputs and fully protected outputs of up to 5 VA.
Output Circuits for D/S and D/R Converters
The resolver-format (sine/cosine) outputs produced
by all of the foregoing D/S and D/R converters are
low-energy, relatively low-voltage signals. The ampli-
fiers required to increase the power and voltage lev-
50
els of these signals must have the following charac-
teristics:
• Relatively low output impedance - low enough to
drive either a resolver winding or a “reversed”
Scott-T reflecting the load of a synchro, efficiently
and rapidly, without significant distortion, and in
the presence of reactive loading.
• High linearity - under the load conditions
described above, to prevent the introduction of
harmonics.
• High Efficiency.
• Minimum (and closely controlled) phase shift -
again, under the load conditions described above,
so that angular error is not introduced. Note that it
is not necessary to achieve negligible phase shift,
but merely to make the phase shifts of the two
power amplifiers (sine and cosine) identical. In
other words, any differential phase shift between
the two channels must be minimized.
• The ability to absorb (and dissipate) energy over
that part of the voltage-output cycle in which the
reactive nature of the load pumps energy back
into the amplifier.
• Short-circuit protection and output over-voltage
protection.
The Scott-T transformer used in D/S converters to
change resolver-format signals into synchro-format
signals at high power levels must be capable of han-
dling the relatively high input voltage swings, at
those power levels, without saturation or significant
distortion. Its phase shift should be low, and (even
more important) it must be balanced, so that differ-
ential phase shifts do not create significant angular
errors. For best performance, then, this transformer
should have low leakage reactance, and low prima-
ry-to-secondary stray capacitance. For efficiency,
the core and copper losses should be minimized.
The transfer function, for system considerations, of
modern D/S or D/R converters is unity.
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

6
3.4V rms
+v +DC SUPPLY LEVEL
7
1 3 POSITIVE PULSATING
REFERENCE
SOURCE 4 21.6V rms SUPPLY VOLTAGE
C.T. RL' RH'
26V rms 400Hz 2 +V S1' S1 AMPLIFIER OUTPUT
T1 + S1 VOLTAGE ENVELOPE
D1 D2
42359 C1
5 S2' S2
GND
+ S2
D4 D3 NEGATIVE PULSATING
C2 S3' S3
-V
SUPPLY VOLTAGE
S3
DSC10510 -v -DC SUPPLY LEVEL
NOTES:
PARTS LIST FOR 400Hz
D1, D2, D3, D4 = 1N4245 DIGITAL ±15VDC
C1 AND C2 = 47µF, 35V DC CAPACITOR INPUT

Figure 5.3. Typical Connection Diagram Utilizing

Pulsating Power Source. Figure 5.4. Pulsating Power Supply Waveforms.

Some System Considerations

• Power surge at turn-on - When power is initially
applied, the output power stages can go fully on
before all the supplies stabilize. Current limiting
prevents damage, but when multiple D/S convert-
ers with substantial loads are present, the heavy
load can cause the power supply to have difficulty
coming up and indeed may even shut down. It is
best then to be sure the supply can handle the
turn-on surge or to stagger the D/S turn-ons so
that the supply can handle it. Typically, the surge
will be twice the maximum rated draw of the con-
verter.
• Torque load management - When multiple torque
loads (TR) are being driven the above problems are
exacerbated by the high power levels involved and
power supply fold back problems are common
unless the stagger technique is used. Also allow
time for the loads to stabilize. On turn-on it is not
likely that all the output loads will be at the same
angle as the D/S output. As the angular difference
increases so does the power draw until the differ-
ence is 180 degrees. At this point, the load imped-
ance drops to Zss and current draw is at maximum.
• Pulsating power supplies - The new generation
of D/S and D/R converters has been designed to
operate their output power stages with pulsating
power to reduce power dissipation and power
demand from regulated supplies. Figures 5.3 and
5.4 illustrate this technique. Essentially the power
output stage is only supplied with enough instan-
taneous voltage to be able to drive the required
instantaneous signal level. Since the output signal
is required to be in phase with the AC reference,
the AC reference can be full-wave rectified and
applied to the push-pull type output drivers. The
supply voltage will then be just a few volts more
than the signal being output, and internal power
dissipation is minimized.
Thermal Considerations
Power dissipation in D/S and D/R circuits are depen-
dent on the load whether active (TR) or passive (CT
or CDX), and the power supply, whether DC or pul-
sating. With inductive loads we must bear in mind
that virtually all the power consumed will have to be
dissipated in the output amplifiers. This sometimes
requires considerable care in heat sinking.
For illustrative purposes, let’s examine a typical
hybrid power D/S, DDC’s DSC-10510, capable of 5
VA drive.
Let us take the simplest case first: Passive
Inductive Load and ±15 Volt DC power stage sup-
plies (as shown in figure 5.3). The power dissipat-

51
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

ed in the power stage can be calculated by taking the
integral of the instantaneous current multiplied by the
voltage difference from the DC supply that supplies
the current and the instantaneous output voltage
over one cycle of the reference. For an inductive
load this is a rather tedious calculation. Instead let
us take the difference between the power input from
the DC supplies minus the power delivered to the
load. A real synchro load is highly inductive with a Q
of 4-6; therefore, let’s assume that it is purely reac-
tive. The power out, then, is 0 Watts. As a worst
case we will also assume the load is the full 5.0 VA,
the converter’ s rated load. The VA delivered to the
load is independent of the angle but the voltage
across the synchro varies with the angle from a high
of 11.8 Volts line-to-line (L-L) to a low of 10.2 V L-L.
The maximum current therefore is:
5 VA
= 0.49 A rms
10.2 V
The heat rise from the junction to the outside of the
package, assuming a thermal impedance of 4
degrees C per watt, is:
4.41 W • 4˚C / W = 17.65˚C
At an operating case temperature of +125°C the
maximum junction temperature will be 142.65°C.
The other extreme condition to consider is when the
output voltage is 11.8. The current then will be .42 A
and the power will be
30 • [ 0.42 A • 0.635
0.707 ] = 11.32 Watts
A similar calculation will show the maximum power
per transistor to be 2.3 Watts. Much less than the
other extreme.

For Pulsating Supplies, the analysis is much more

The output is L-L push-pull, that is, all the current difficult. Theoretical calculations, for a purely reac-
flows from the positive supply out to the load and tive load with DC supplies equal to the output voltage
back to the negative supply. The power input is the peak vs. pulsating supplies with a supply voltage
DC voltage times the average current or: equal to the output voltage yield an exact halving of
the power dissipated. The practical circuit also
results in halving of the power dissipated. At light
loads the pulsating supplies approximate DC sup-
avg
30 V • [ 0.49 .707
A • 0.635
] [ rms ] = 13.24 Watts plies and at heavy loads, which is the worst case, they
approximate a pulsating supply as shown in figure 5.5.
Advantages of the pulsating supply technique are:

The power dissipated by the output driver stage is • Reduced load on the regulated ±15 VDC supplies.
over 13 Watts shared by the six power transistors.
Since one synchro line supplies all the current while • Halving of the total power.
the other two share it equally, one will dissipate 2/3
of the power and the other two will each dissipate • Simplified power dissipation management.
1/3. There are two transistors per power stage so
each of the two transistors dissipates 1/3 of the +15VDC
LIGHT LOAD
power and each of the other transistors dissipates
HEAVY LOAD
1/6 of the power. This results in a maximum power in
any one transistor of:

1 -15VDC
• 13.24 W = 4.41 Watts
3
Figure 5.5. Loaded Waveforms.

52
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

3-WIRE SYNCHRO 2-WIRE REF

R1=2/3Ω R1 R2 R2 R1
R2=1 1/3Ω

REF IN D/S ≈ ZSO=8.6Ω REF REF REF

ACTIVE LOAD
TORQUE TRANSMITTER TORQUE RECEIVER

NOTES:
R1 + R2 ≈ ZSS

Figure 5.6. Equivalent Two-Wire Circuit. Figure 5.7. Torque System.

Active Load - that is torque receivers - make it more
difficult to calculate power dissipation. The load is
composed of an active part and a passive part.
Figure 5.6 illustrates the equivalent two-wire circuit.
At null, when the torque receiver’s shaft rotates to the
angle that minimizes the current in R2, the power dis-
sipated is lowest. The typical ratio of Zso/Zss=4.3.
For the maximum specified load of Zss=2 ohms, the
Zso=2 x 4.3=8.6 ohms. Also the typical ratio of
R2/R1=2. In all synchro systems (torque transmitter
driving a torque receiver) the actual line impedances
are as shown in Figure 5.7. The torque transmitter
and torque receiver are electrically identical, hence
the total line impedance is double that of Figure 5.6.
The torque system is designed to operate that way.
The higher the total line impedances, the lower the cur-
rent flow at null and the lower the power dissipation. It
is recommended that with torque loads, discrete resis-
tors be used as shown in Figure 5.8 and 5.9.
A torque load is usually at null. Once the torque
receiver nulls at power turn on, the digital commands
to the D/S are usually in small angular steps, so the
torque system is always at or near null. Large digital
steps, load disturbances, a stuck torque receiver or
one synchro line open causes an off null condition.
Theoretically, at null the load current could be zero
(see Figure 5.10). If Vac = Vbc, both in magnitude
and phase, then, when “a” was connected to “b”, no
current would flow. Pick C1 and C2 to match the
phase lead of R1-Zso. In practice this ideal situation
is not realized. The input-to-output transformation
ratio of torque receivers are specified at 2% and the
turns ratio at 0.4%. The in-phase current flow due to
this nominal output voltage (10.2 V) multiplied by the
% error (2.4/100) divided by total resistance (4 ohms)
= 61 mA. A phase lead mismatch between the torque
receiver and the converter of 1 degree results in a
quadrature current of:
sin 1˚
10.2 V • 4 ohms = 44.5 mA
Total current is the phaser sum:
61 + 44.5 mA = 75.5 mA
Power dissipation is:
30 Vdc • 75.5 mA • 0.9 (avg/rms) = 2.04 Watts
Since this is a light load condition, even pulsating
supplies would be approximating DC supplies.
The off null condition is a different story. Real syn-
chros have no current limiting, so that the current that
would flow would be the current that the circuit con-
ditions demanded. The worst case would be for a
180 degree error between the two synchros as
shown in Figure 5.11. For this condition the two
equivalent voltage sources would be 10.2 V oppos-
ing. The current would be
10.2 • 2
4 = 5.1 A in phase

53
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

The power dissipated in the converter is the power
supplied by the ±15 VDC supplies minus the power
delivered to the load.
(30 V • 5.1 A • 0.9) – (10.2 V • 5.1 A)
= 85.7 Watts for DC supplies
This would require a large power supply and high
wattage resistors. The converter output current is
usually limited (in the case of the DSC-10510, to 0.8 A
peak). This limits the power supply to more reasonable
values but introduces another problem - the torque
receiver can become disoriented and confused, hang-
ing up in a continuous current limited condition at a
false stable null. Fortunately the DSC-10510 has spe-
cial circuits that sense this continuous current over-
load condition and sends a momentary 45° “kick” to
the torque receiver thus knocking it off the false null.
The torque receiver will then swing to the correct
angle and properly null. If the torque receiver is stuck
it will not be able to eliminate the over-current condi-
tion. In this case, the converter will send a BIT signal
when the case exceeds 140°C. This BIT signal can be
used to shut down the output power stage.
An additional advantage of using pulsating power
supplies is that the loss of reference when driving
torque loads is fail safe. The load will pump up the
±V voltages through the power stage clamp diodes
and the loss of the reference detector will disable the
power stage. The power stage will, therefore, be

2Ω 1 1/3Ω 2/3Ω
RH

REF IN D/S ZSO=8.6Ω REF

RL
TORQUE LOAD WITH DISCRETE EXTERNAL RESISTOR

Figure 5.8. D/S Equivalent.

1.33Ω
S1 S1
RH
1.33Ω
S2 S2
REF IN D/S TR REF
1.33Ω
S3 S3
RL

Figure 5.9. D/S Actual Hook-up.

R1
2Ω 1 1/3Ω 2/3Ω
C1
RH
A B

REF IN D/S Zso=8.6Ω REF

C
RL
C2

Figure 5.10. Ideal Null Condition.

54
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

turned off with the needed power supply voltages.
The pulsating power supply diodes will isolate the
pumped up pulsating supplies from the reference. If
the DC power supplies are to be used for the power
stage and there is a possibility of the DC supplies
being off while the reference to the torque receiver is
on, then the protection circuitry shown in Figure 5.12
is highly recommended.
A note should be made here about the ability of
DDC’s synchro booster amplifiers to drive active
loads with impedance well below that implied by their
VA rating. A case in point being the SBA-25000
series amplifiers. Rated at 25 VA these units are
able to drive active loads as low as 6 Ohms at 90 V
L-L. On the surface this seems to be inconsistent. In
actuality it is not. When a torque receiver or another
active load device is at null the impedance is much
higher than the Zss. It is only in the off-null condition
that Zss can be as low as 6 Ohms. The off-null con-
dition is normally a transient condition, only existing
for a second or so. During this time the amplifier out-
put operates in a non-linear manner; it goes into cur-
rent limiting. At this current-limited output level it will
produce sufficient power to drive the torque receiver
to null but not enough to damage itself. As the torque
receiver comes into null it’s impedance increases
and the amplifier will come out of current limiting and
operate normally. Should the load remain at a low
level and the amplifier be forced to remain in current
limiting for more than 4 seconds or so the SBA-
25000 will introduce a 1/2 second angle change
(120°) to try to free the torque receiver. Should the
load persist the output driver temperature will rise to
+125°C at which point the thermal cut-out will disable
the output drivers.
The remote sense feature is incorporated in DDC’s
newest hybrid digital-to-synchro converters. Rated
at 5 VA, the DSC-10510 offers accuracies to ±2 min-

+15V
+15VDC +

2Ω 2Ω

+V

D/S 10.2V 10.2V D/S

-V

-15VDC -V
- 15V

Figure 5.11. Worst Case 180° Error. Figure 5.12. Protection Circuitry.

REF D/R PA OUT

WITHOUT XFMR
PRECISION
XFORMER

STABILIZING
NETWORK

REF D/R PA

OUT
WITH XFMR POWER
XFORMER

Figure 5.13. Feedback Transformer.

55
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

D/S
CONVERTER C C
(INCLUDING
REQ'D C
AMPLIFIERS)
CT CT
CT

FOR "N" PARALLEL CT'S,

N
C ≈ ω2L WHERE ω = 2π (carrier frequency)

Figure 5.14. Resonating Paralled or other Low-Impedance Loads, to Raise Drive Capabilities of a D/S (or
D/R) Converter.

utes of arc at the load. This remote sense feature
operates just as other precision sources do. A sepa-
rate line is run to each leg of the synchro (in addition
to the drive line) to sense the voltage actually
appearing on the load. This is then used to regulate
the output based on load voltage rather than con-
verter output voltage. This feature is very useful in
driving heavy passive loads in precision systems.
Another technique sometimes used to reduce the
size and cost of the output isolation transformers is
to incorporate an additional output feedback trans-
former (as shown in Figure 5.13) to feed the output
back to the output drivers in such a way that the out-
put power transformer is inside the feedback loop,
thus allowing the transformer parameters to vary
considerably without degrading accuracy or drive
capability. Thus the output power transformers are
simple power transformers, not large precision trans-
formers, and only the small feedback transformers
need be precise. This technique requires careful
design since there are now two transformers within
the loop where before there were none.
Tuning The Load
NOTE: capacitor tolerance and drift, as well as the
tolerance and drift of the inductance of the winding,
make it impractical to attain or maintain perfect reso-
nance; therefore, it is wise to estimate no greater
impedance rise than about 0.8 Q, even using rela-
tively stable capacitors.
Computing Value of Capacitor for Tuning
Synchro Stator Windings
X'LSO
C=
6 π f [(R'SO ) 2 + (X' LSO ) 2 ]
Where:
C=Tuning capacitor in farads in delta connection.
X’LSO=Reactive component of impedance of one sta-
tor winding leg with rotor open circuit.
f=Frequency in Hz
R’SO=Resistive component of impedance of one sta-
tor winding leg with rotor open circuit.

Figure 5.14 shows how to accommodate a D/S con- Note:

verter to low impedance loads - such as several syn-
chro control transformers (CT) in parallel - even Z' SO = 2 ( Z SO )
3
though the converter is not designed to drive such a
low impedance. Since the synchro CT presents a Z SO = Stator winding impedance
with rotor open circuit.
highly inductive impedance, of moderately high Q, it
is possible to resonate each winding, with a parallel Z' SO = per leg winding impedance
capacitor of suitable current rating, and thereby raise with rotor open circuit.
the equivalent impedance by a factor approaching Q.

56
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS
Figure 5.15 shows the use of external synchro driver
differential operational amplifiers to boost both the
average and the peak power capabilities of a D/R
converter. (The same amplifiers may be used to
boost the output capabilities of D/S, synchro-to-dc
and synchro-to-sine/cosine dc converters). Modern
synchro-drive amplifiers are generally available with
output voltage ranges up to ±150 Volts, at volt-
ampere levels as high as ±35 VA. They are espe-
cially well suited to driving multiple resolvers.
It is important to note that not all high power ampli-
fiers are suitable for use as synchro drivers because
of the lower power factor of the load. In driving a
highly inductive load, most of the real power must be
dissipated in the amplifier, since the current levels
and phase shifts can be quite high. Another impor-
tant consideration is overload protection and/or cur-
rent limiting. If a synchro torque receiver (TR) locks
up at 180° from the D/S converter angle, the TR
essentially acts as a generator aiding the D/S con-
verter output rather than bucking it as it does in nor-
mal operation. In this situation the amplifier will be
called upon to drive the resistive portion of the TR’s
impedance (ZSO) and to absorb an additional equal
current from the TR. Some form of protection is very
desirable in this situation to prevent burning out the
amplifiers and/or synchro.
Figure 5.16 shows how two external power amplifiers
may be used to drive one or more three-wire synchro
receivers in parallel (or a high-power torque syn-
chro). This is possible because of the Y-connection
configuration of the synchro receiver stator windings.
It can be shown that supplying the high-level energy
Vx
–
+
D/R MULITIPLE
CONVERTER RESOLVERS
+
– 10K
Vy
Figure 5.15. Boosting Output of D/R Converter.
57
to two of the three input lines, and directly connect-
ing the third (ground is the common connection) is
just as effective as using three power boosters. One
word of caution: do not allow the ground-return cur-
rent from the third terminal to flow through any of the
low-level analog-circuit ground paths - e.g., the ±15
V power-supply common. Instead, connect the third
synchro input directly to the third output terminal on
the D/S converter, and ground that third output ter-
minal to common.
Testing D/S Converters
To test or evaluate a digital-to-synchro converter will
generally require a synchro bridge or a synchro angle
indicator. Testing D/S converters is similar to testing
S/D converters except that the inputs and outputs are
reversed. The inputs are toggle switches, and the out-
put is monitored or measured by means of a synchro
angle indicator or a synchro bridge and phase angle
voltmeter (PAV). As shown in Figure 5.17, bit switch-
es are set to obtain the desired angle, and the output
is read off the angle indicator. If the bridge and PAV
technique is used, the bridge is adjusted for a null on
the PAV and the output angle is read on the bridge.
Most D/S converters have guaranteed angular errors
(generally on the order of ±4’ and up to ±1’ ). This error
is defined as the difference between the selected input
angle and tan-1 [K(θ) sin θ / K (θ) cos θ]. K (θ) is a
scale factor variation in the output amplitude, general-
ly 7% for older converters and on the order of 0.1% for
the new generation. The sine and cosine outputs of
older converters should not be demodulated and used
separately to display circles on a CRT because the 7%
Vref
10K
10K
D/S
CONVERTER
10K
TORQUE SYNCHRO
Figure 5.16. Using Two Power Amplifiers to Drive a
Three-Wire Synchro from a D/S Converter.
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

STABLE
CT LOAD
OSCILLATOR

Vref
MSB

ANGLE
INDICATOR
OR
+ PAV
D/S
CONVERTER OUTPUT
ONE UNDER
LEVEL TEST

Figure 5.17. Testing D/S (or D/R) Converters.

variation in scale factor will cause distortions in the cir- type loads, since their rotors are usually driven from
cle tending to make it diamond shaped. This general- a very low impedance generator. From Figure 5.18
ly is of no consequence in other applications since we can see that in the equation:
angular accuracy is the important parameter. The
practical effect of this variation is slightly increased cir-
culating currents in some applications.
Zs = Z ’s + Z ’s
2
How to Calculate Power Requirements for D/S = 3 Z ’s
Converters 2
2
Before a D/S converter can be selected for a particular Z ’s = Z ’s
3
application, the power required by the load (expressed
in volt-amperes, or VA) must be determined. Most of
the time, this must be calculated from other available where Zs is either Zso or Zss depending on the type
information, such as the type of load (e.g., 23CT4c) or of load.
the impedance of the load (e.g., 1230 + j14300).

Enough information must be available to allow the S1 S1

user to determine Zso for control transformer loads R1 R1

or Zss for torque receiver loads, since this plus the

Z′SO Z′SS
RMS line-to-line voltage is all that is needed to cal-
ZSO ZSS
culate the required power. Zso is the impedance R2 R2
between one of the three stator terminals of the syn- Z′SO Z′SS

chro load and the other two shorted together with the S2
Z′SO
S2
Z′SS

rotor open, while Zss is the same impedance but with

the two rotor terminals shorted, as shown in Figure
5.18. Each leg of the synchro has an impedance of S3 S3

Zso or Zss. Zso is used for control transformer type

loads since, in actual use the rotor sees a very high Figure 5.18. Illustration of ZSO and ZSS - Synchro
impedance, while Zss is used for torque receiver Load Impedance.

58
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

Referring now to Figure 5.19, we show the output sec-

tion of a D/S converter, with the sine and cosine voltages (VL-L sin θ) 2 (V L-L cos θ)2= Total RMS Power
+
connected to the load through a Scott-T transformer. 2 Z ’s 2 Z ’s

The impedance Zsin seen by the sine voltage is VL-L2

(sin2 θ + cos 2 θ) = Total RMS Power
determined by drawing the Thevenin equivalent cir- 2 Z ’s
cuit of Figure 5.19 with the cosine channel shorted.
See Figure 5.20. Notice that total power does not vary with angle.
Now substitute Zs for Z’s from equation 1:
The impedance, Zsin is:
VL-L2
Zsin = 2 Z ’s 2
[
2 3 Zs ]
Similarly, we redraw Figure 5.19 to determine Zcos,
this time with each half of sine transformer shorted. 3 VL-L2 = Total RMS Power (VA)
•
See Figure 5.21. 4 Zs

The impedance, Zcos is: This is the equation to remember when calculating
power from either Zso or Zss. As an aid, Table 5.3
lists the power required by many common control
Zcos = 1 2 Z ’s + Z ’s
N 2 transformers (CT) and torque receivers (TR). Table

= 1
[ 32 Z ’s ]
[√ 32 ]2

=
4 3
3 2
[ Z ’s ]
1:1 S1 Z's
Zcos = 2 Z ’s Zsin Z's
CT S2
SIN θ CT

Since Zsin = Zcos = 2 Z’s, we can substitute this in S3

1=0
Z's
equation 2:

Figure 5.20. Thevenin Equivalent of D/S Circuit in

Figure 5.19 with the Cosine Shorted.
S1
S1
1:1
S3

Z's 1: 3/2
VLL SIN θ

Zcos Z's Z's

1: 3 COS θ
2 Z's

S3 Z's

VLL COS θ
Z's
S2
S2

Figure 5.21. Thevenin Equivalent of D/S Circuit

Figure 5.19. D/S Converter Output Connected to in Figure 5.19 with Each Half of the
Load Through a Scott-T. Sine Transformer Shorted.

59
 THEORY OF OPERATION OF MODERN
DIGITAL-TO-SYNCHRO/RESOLVER CONVERTERS

5.4 gives the power capability of all our standard D/S Example: DSC 644-H
converters.
At 400 Hz the DSC 644 will drive a minimum load of
Finally, a word of caution. Torque receiver loads, as 4kΩ.
discussed here, are assumed to be at a null, or stat-
ic. When off null, or moving, they draw large surges
3 90 2 = 1.5 VA
of power because their rotor is also being driven. •
4 4000
Therefore, verify that the minimum Zss is not less
than that given in Table 5.4 for the converter you
have in mind.

Table 5.3. Control Transformers and Torque Receiver Parameters.

TYPE FREQUENCY VL-L ZSO OR ZSS ZSO OR POWER
(HZ) Ω)
ZSS (Ω (VA)
Control Transformers
26 V 08CT4c 400 11.8 100 + j506 516 0.2
26 V 08CT4d 400 90 20 + j128 130 0.8
115 V 11CT4e 400 90 700 + j4900 4950 1.23
115 V 15CT4c 400 90 1020 + j8330 8392 0.72
60 90 1140 + j6240 6343 0.96
115 V 15CT6d
400 90 1360 + j12600 12670 0.48
115 V 18CT4c 60 90 1690 + j4800 5089 1.19
115 V 18CT6d 400 90 1230 + j14300 14350 0.42
115 V 23CT4c 60 90 1380 + j4790 4985 1.22
115 V 23CT6d
Torque Receivers
26 V 11TR4b 400 11.8 3.3 + j1.3 3.5 29.8
115 V 11TR4b 400 90 191 + j76 206 29.5
115 V 15TR4c 400 90 48 + j33 58 105
115 V 15TR6a 60 90 509 + j106 520 11.7
400 90 12 + j12 17 360
115 V 18TR4b

Table 5.4. Digital-To-Synchro/Resolver (D/S, D/R) Converters.

MODEL RESOLUTION ACCURACY OUTPUT DRIVE
PACKAGE
(BITS) (MINUTES)
DSC-11520 16 ±1 2 ma 36-pin DDIP
DSC-11522* 16 ±1 2 ma 36-pin DDIP
DSC-11524* 16 ±2 15 ma 36-pin DDIP
DRC-10520 16 ±1 2 V/A 32-pin DDIP
DSC-10510 16 ±2 7 V/A 40-pin DDIP
DSC-644 14 ±4 1.5 V/A 2.6 x 3.1 x 0.5
inch module
DSC-644 14 ±4 4.5 V/A 2.6 x 3.1 x 0.8
inch module
DR-11525* 16 ±1 2 ma 36-pin DDIP
DR-11800 16 ±1 2 ma 1.0 x 1.0 x 0.21
inch
DS-11802 16 ±1 2 ma 0.6 x 1.4 x 0.2
inch
* Two Channel Device.

60
 OTHER FUNCTIONS AND INSTRUMENTS

SECTION VI

Solid-State Control Transformer (SSCT)

Modern electronic-system design is generally based
on the "modular-building-block" approach, where the
system designer interfaces predesigned (and, prefer-
ably, versatile) standard modules. One such module
is the SSCT, shown in Figure 6.1a in block diagram
form. By comparing this block diagram with the
tracking converter of Figure 2.1, and the diagram for
an electromechanical CT of Figure 1.10b, we can
see that the SSCT preforms exactly the same func-
tion as an electromechanical synchro control trans-
former, and provides a large part of the circuitry used
in a tracking converter.
(Note also that the SSCT is essentially the same as
the programmed-function-generator discussed in
Section V - e.g., Figure 5.1 - except that the
sine/cosine outputs of the function generators are
subtracted at a differencing junction, and isolated.)
The inputs to an SSCT are a three-wire set of syn-
chro-format analog signals at the carrier frequency
(representing θ), and a digitally coded word (repre-
senting φ). The output is simply sin (θ-φ), which, over
a small range of (θ-φ), is equal to (θ-φ). Typically the
output may be considered equal to (θ-φ) within a few
minutes of error over a range of ±7°. Since the SSCT
is always used in systems that attempt to drive (θ-φ)
to null-zero, the momentary off-null errors are not
significant.
Note that resolver-format inputs may be accommo-
dated by replacing the Scott-T input transformer by a
simple isolation transformer ... or, under the right sig-
nal-source circuit conditions, by simply eliminating
the input transformer.
In the past SSCTs were dedicated modules or
hybrids. Today SSCT operation is a pin-programma-
ble option built into the S/D (i.e., the SDC-14560
Series). By simply grounding the appropriate pin
(usually labeled S) the converter can be used as a
SSCT. In this mode, shown in Figure 6.1b, the digi-
tal output becomes a double-buffered input feeding
the up-down counter. The output is now AC Error

+5 -15 +15 GND

+SIN COSINE
S1 MULITIPLIER
INPUT -SIN OUTPUT R1
QUADRANT
S2 ISOL. +COS 3 14 ISOL.
SWITCHING R2
SCOTT-T -COS SINE TRANS.
S3
MULITIPLIER SUBTRACTING
AMP SIN (θ - φ)
SYNCHRO
OUTPUT
INPUT
MSB LSB
1 2 3 14

DIGITAL INPUT φ

Figure 6.1a. Solid-State Control Transformer (SSCT).

61
 OTHER FUNCTIONS AND INSTRUMENTS

and the enable lines (EL and EM) and inhibit (INH)
become latch control lines (LL, LM, and LA).
Electronic Control Differential Transmitter (ECDX)
Another useful module is one that performs the task
of an electromechanical CDX (synchro control differ-
ential transmitter). It is apparent from the block dia-
gram of Figure 6.2 that this device may be explained
almost entirely by reference to earlier discussions.
Indeed, the ECDX is nothing more than a pair of
SSCT's that share a common input transformer ...
except that the sine and cosine inputs to the lower
pair of function generators have been reversed. This
produces the two outputs shown, which result from
synthesis, in the SSCT's of the two complementary
trigonometric identities:
sin θ cos φ - cos θ sin φ = sin (θ-φ)
cos θ cos φ + sin θ sin φ =cos (θ-φ)
...of which the first is the normal function of the
SSCT, and the second is the complementary func-

LOSS OF
ZERO REFERENCE 40 REF
LOS 28 SIGNAL
SET TIMING CONDITIONER
DETECTOR

SIN θ SIN
HIGH ACCURACY (θ-φ)
SYNCHRO SIGNAL CONTROL GAIN BIT 29 BIT
1-3 DEMODULATOR
INPUT INPUT COS θ TRANSFORMER e DETECT

+15V

16-BIT CT DIFF
LA (INH)
9 TRANSPARENT GAIN 39 e
LATCH OF 2

DIGITAL -15V
ANGLE φ
+11V
16-BIT
POWER SUPPLY
U-D COUNTER +5.5V 34 +15V
CONDITIONER
(SET MODE)

7 8

A B
LM(EM) 10 11 LL(EL)
RESOLUTION
12-19 20-27 CONTROL

1-8 9-16

Figure 6.1b. S/D in the SSCT Mode.

COSINE
MULTIPLIER
SIN (θ - φ)
+SIN θ SINE
S1 INPUT –SIN θ SIN θ SUBTRACTOR
QUADRANT MULTIPLIER
θ S2 ISOL. +COS θ
SCOTT –COS θ SWITCHING COS θ
S3 COSINE
T
MULTIPLIER
SCOTT-T COS (θ - φ)
XFMR SINE
MULTIPLIER SUBTRACTOR

MSB
1 2 3 14

Figure 6.2. Electronic Control Differential Transformer (ECDX).

62
 OTHER FUNCTIONS AND INSTRUMENTS

tion. In the ECDX, accuracy is maintained over 0° to
360°. This module, like all the other signal-level mod-
ules that may be required to drive electromechanical
resolvers, is compatible with synchro power ampli-
fiers.
Angle Position Indicators (API)
is required, in the way of interfacing between the S/D
or R/D converter and the display, is that the counter
(and/or register) logic used in the converter be of the
BCD type, rather than the binary-coded type. Figure
6.3 shows the block diagram of a high-performance
synchro-to-angle readout instrument, and Figure 6.4
is a photograph of the complete device.

Any of the synchro-to-digital (or resolver-to-digital) A modern angle position indicator consists of a pre-
converters discussed in Section II may be connected cision R/D tracking converter, input circuits that apply
to a digital display to provide a visual, numerical the desired synchro or resolver format signals and
readout of the angular input to the converter. All that control functions to the converter in either local or

SYNCHRO OR SYNCHRO
FRONT PANEL
RESOLVER OR
OFF LOCAL SIGNAL &
& REFERENCE RESOLVER
LOCAL LOCAL REMOTE LOCAL REFERENCE
LOCAL INPUT SWITCH
INPUTS REMOTE ISOLATION
SWITCHES REMOTE TRANSFORMERS
MANUAL
CONTROL HIGH ACCURACY
TTL BCD ANGLE OUTPUT
LOGIC LOCAL & RESOLVER-TO-
TTL OUTPUT CONVERTER BUSY
SWITCHES REMOTE DIGITAL TRACKING
BUFFER BUFFER BITE
MULTIPLEXER CONVERTER
CONTROL
LOGIC LED ANGLE DISPLAY
INTERNAL DISPLAY
16 INPUTS AC POWER LED BITE INDICATOR
POWER SUPPLIES CIRCUIT LED AMBIGUITY
SYNCHRO RESOLVER INDICATOR
REMOTE & REFERENCE
INPUTS CHANNEL 1 INPUT
SYNCHRO
CHANNEL 2048 BYTE
OR
1 OR 2 ROM
RESOLVER
SWITCH SWITCH
SYNCHRO RESOLVER IEEE
& REFERENCE 488 16-BIT ADDRESS LINES
CHANNEL 2 INPUT BUS INPUT
INTERFACE
8 DATA LINES DRIVERS OUTPUT
CONTROLLER
PLUS 8-BIT INTERFACE
DATA LINES
8 CONTROL
LINES 8 BIT
CONTROL
MICRO ADDRESS
IEEE
PROCESSOR SELECT
OPTION ONLY
SWITCHES

Figure 6.3. High-Performance Synchro-to-Angle Readout Instrument Block Diagram.

Figure 6.4. Angle Position Indicator. Figure 6.5. Synchro Simulator.

63
 OTHER FUNCTIONS AND INSTRUMENTS

REFERENCE LOCAL REF

RESISTOR REFERENCE
EXCITATION
REMOTE REF NETWORK FREQUENCY
INPUT
MEASURING
CIRCUIT

KEYBOARD RELAY
KEYBOARD DRIVERS
BUFFER

DISPLAY
DISPLAY
DRIVER

SIM-31200, 31201 ONLY SIN' FRONT

8-BIT SINE
PANEL
MIRCOPROCESSOR POWER
DATA PARALLEL AMPLIFIER
(6809)
DIGITAL OUTPUT SYNCHRO/
HANDSHAKE FORMAT
I/O OUTPUT AND VOLTAGE
RESOLVER
TRANSFORMERS OUTPUT
SWITCHING 11.8V/26V/90V
SIN RELAYS

DATA 20-BIT COSINE

DIGITAL- COS REAR
POWER COS'
IEEE-488 TO-RESOLVER AMPLIFIER PANEL
INTERFACE CONVERTER CONNECTOR
BUS CONTROL CONTROLLER
CURRENT
THERMAL
SENSING
SIM-31210, 31202 ONLY CIRCUIT
PROTECTION

Figure 6.6. Synchro Simulator Block Diagram.

remote mode, display circuits, and a IEEE-488 inter-
face. An OFF/SYN/RES/REM switch determines the
operating mode. Digital angle data is displayed on
the readout and simultaneously is made available to
the rear panel connector or the IEEE-488 interface.
A Converter Busy (CB) and a Built-In-Test (BIT) sig-
nal are also provided. Input scaling is taken care of
with an auto-ranging circuit. The reference circuits
work over the very broad range of 1 to 115 Volts rms.
Indeed, at frequencies higher or lower than 400 Hz,
they are more accurate! New designs, such as
DDC's SM-31210 feature broadband operation over
the frequency range of 47 Hz to 1k Hz or 360 Hz to
10 kHz, 3VA output drive capability, digital correction
and calibration, IEEE 488 interface and binary or
BCD input. They are extremely accurate, versatile
and stable devices.

Angle position indicators are available with ±0.001° S1 +S

resolution and ±0.003° accuracy. At accuracies like S3 -S

this, reference time-phase errors become significant, +C
ANALOG GND
so that a synthesized reference capability is provided S2 -C
in the angle indicator. (See page 22 for description.)
These systems are available in a VME, VXI, PC ISA, R1 REF HI
PC-104, and PCI format.
R2

Synchro/Resolver Simulators

Modern synchro/resolver simulators, as shown in

Figures 6.5 and 6.6, are high performance convert-
ers under µP control with accuracies (to 10 arc sec- Figure 6.7. Reference-Coupling and and Scott-T
onds) rivaling the old toroidal transformer standards. Transformers.

64
 OTHER FUNCTIONS AND INSTRUMENTS
Isolation and Format-Conversion Transformers
Figure 6.7 shows the equivalent schematic diagrams
of both reference-coupling and Scott-T transformers
of typical modern input-coupling modules. The refer-
ence-coupling transformer must be designed for min-
imum phase-shifts, and excellent primary-secondary
isolation, to prevent noise and signal-frequency
anomalies due to ground loops in the external sys-
tem. In critical applications, the transformers may
have to be shielded as well. Core excitation should
be well below saturation to prevent harmonic gener-
ation due to nonlinearity, and leakage reactance
must be minimized.
The Scott-T transformer is a two-core device, ideally
without appreciable magnetic coupling from core to
core. Electrostatic isolation from unit to unit must be
equally effective to preserve the integrity of the angle
data transformed. Linearity is essential. In the Scott-
T configuration, perfect balance must be preserved
between the transfer characteristics to the sine and
cosine outputs, and the leakage reactance must be
minimized, and balanced, to preserve high accuracy.
Shielding is sometimes required, for extremely high
accuracy in adverse environments.
–
SIN
+ 2/3 Zso
–
COS
+ S1
Figure 6.8. Dual Power Amplifier.
65
Signal Booster Amplifiers
Figure 6.8 shows the construction, equivalent circuit-
ry, and modular packaging of a typical dual power
amplifier capable of coupling synchro- or resolver-
format signals (through a suitable coupling trans-
former) to a synchro. It can also be used to buffer the
output of digital-to-sine/cosine converter. The volt-
age and power levels are more than adequate to
drive most synchros or resolvers, and many torque
receivers.
Signal booster amplifiers require careful heat sinking
and transient protection but are otherwise simple to
use, efficient and very rugged. Modern designs
operate their power stages off the reference thereby
reducing power dissipation by 50% over a DC oper-
ated amplifier. They have a disable input and a BIT
output that senses thermal overload. Current limiting
prevents damage from overload and short circuits
while voltage clamps protect again reference and
load transients. The thermal cutout disables the out-
put at +125°C. A new feature is a unique "kick" cir-
cuit to overcome the inertia of an off null condition of
torque receivers or kick them off a false null. If an
overload exists for over 4 seconds the kick circuit will
S3
Zso = R + jXL
2/3 Zso 2/3 Zso
S2
Figure 6.9. ZSO Measurement.
 OTHER FUNCTIONS AND INSTRUMENTS

shift the output 120 degrees for 1/2 second and will where f is the carrier frequency and R and X are the
repeat this kick every 4 to 5 seconds as long as the series real and reactive components of Zso. Good
overload persists. grade capacitors must be used and they must be
able to withstand the full AC output voltage.
Table 6.1. Common CT and CDX Load
Impedances. When the load has been tuned more loads can be
MILITARY TYPE NUMBER SIZE ZSO (NOMINAL)
driven in parallel because the load impedance, Z,
has been increased to:
CONTROL TRANSFORMERS:
11CT4e 11 838 + j4955
15CT4e 15 1600 + j9300
R 2+ X L2
15CT6b 15 1170 + j6780 C=
18CT4c 18 1420 + j13260 R
18 1680 + j5040
18CT6b
23 1460 + j11050
23CT4a 23 1250 + j3980 It must be remembered that if the synchro is
23CT6a
removed from a system that has been tuned and the
CONTROL DIFFERENTIAL tuning capacitors remain in the system they will pre-
TRANSMITTERS:
sent a very low impedance to the driving amplifier
11CDX4b 11 253 + j1802
15CDX4d 15 140 + j1000 and will probably drive it into overload. See page 56
15CDX6c 15 404 + j2290 for more details.
18CDX4c 18 63 + j695
18 521 + j1605
18CDX6d
23 32 + j306
23CDX4c 23 221 + j958
23CDX6c S3

C C

When driving CT and CDX loads, the synchro boost-

er amplifier must have enough steady-state power
capability to drive the Zso of the load. Zso (stator S1 S2
impedance with the rotor open circuited) is mea- C
sured as shown in Figure 6.9.
Figure 6.10. CT Load Tuning.
Table 6.1 shows the load impedance of some typical
control transformers and control differential transmit-
ters.

Control transformers are highly inductive loads and it
is possible to save power by tuning such loads.
Figure 6.10 illustrates how three capacitors placed
across the legs of a CT in a delta configuration can
tune the load. The correct value of the capacitance
C in farads is given by:
XL
C=
4π (R 2 + X L2 )
Driving Torque Receiver Loads
In addition to having enough steady state power
capability to maintain a torque receiver at null, a
torque driver must have peak transient power suffi-
cient to drive the torque receiver back to null. This
transient power capability is indicated by the maxi-
mum torque receiver load Zss which can be driven.
Some common torque receivers and their load
impedances are listed in Table 6.2.

66
 OTHER FUNCTIONS AND INSTRUMENTS

Reference Oscillators

The reference oscillator shown in Figure 6.11 in this class of applications. The key features of such
provides AC excitation for synchro, resolvers and a transformer are:
inductosyns in systems where an AC reference is
not readily available. It is generally pin program- • Low distributed capacitance shunt and interwinding.
mable for various common frequencies and can
be used with a wide variety of standard transduc- • Low leakage reactance.
ers. Some have a quadrature output for induc-
tosyn applications. Drive capability is in the 200 • High magnetizing inductance.
mA range. They come in a hybrid or modular
form. • Low core and copper losses.

Power-Output Transformers • Low static regulation.

Figure 6.12 shows the construction, equivalent cir- • Low flux density - well below the saturation knee
cuitry, and modular packaging of a typical Scott-T of the B-H curve.
output coupling transformer, with load parameters
indicated, to give some idea of the design constraints • Accurate centertapping.

Table 6.2. Common Torque Receivers and their

Load Impedances.
SYNCHRO VL-L/FREQ (HZ) Ω)
ZSS (Ω
11TR4c 90V/400 180 to 250
15TRx4a 90V/400 50 to82
15TRx6a 90V/60 920
18TRx4a 90V/400 16 to 21
18TRx6b 90V/60 350 to 430
23TR6 90V/60 110 to 145
23TR6a 90V/60 110 to 145
23TRx4a 90V/400 6.5 to 8.1
23TRx6b 90V/60 110 to 145

L
SIN S1
R
S3
L
COS
R
L
S2

L = Leakage Reactance
R = Loss Resistance

Figure 6.11. Reference Oscillator. Figure 6.12. Scott-T Output Coupling Transformer.

67
 OTHER FUNCTIONS AND INSTRUMENTS

THIS PAGE INTENTIONALLY LEFT BLANK

68
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS
SECTION VII
Worst-Case Error Analysis of Typical S/D or R/D
Converters
Let us begin this important topic with a comprehen-
sive listing of error sources, together with brief expo-
sitions of the nature of their possible effects on accu-
racy ... assuming that they do affect a particular type
of converter. We shall first list the possible "external"
error sources - those that derive from system char-
acteristics and environment stresses outside the
converter.
• Reference carrier frequency variations from the
nominal. These can be first-order error sources,
but only in the RC-phase-shift types of converters.
• Reference-carrier rotor-to-stator time-phase shift
(α). The effects of this error source have been
thoroughly discussed earlier (see Section II), but
note that second-order phase shifts can be intro-
duced by circuit components, such as reference
and data isolation transformers, quadrant selec-
tors, function generators, etc.
• Reference carrier harmonics. Note that it is impor-
tant to distinguish between differential harmonics
(those that do not also appear in the data signals)
and total reference harmonics.
• Reference amplitude variations.
• Inequalities between the rotor-to-stator transfer
functions of the synchro or resolver by the con-
verter input impedance, or asymmetrical synchro
or resolver effective source impedances.
• Quadrature voltage components in the input data
signal including "speed voltage" quadrature com-
ponents (discussed later in this section).
• Excessive shaft velocity - i.e., a greater rate of
change of θ per unit time (dθ/dt) than the convert-
er can track without error.
69
• Acceleration - the rate of change of velocity per
unit time; or d²θ/dt².
• Ambient temperature changes.
• Changes in the power supply to the converter.
• The passage of time (in other words, aging effects,
operating and/or nonoperating).
• Humidity and other atmospheric effects, including
altitude changes, corrosion, etc.
• Shock and vibration effects.
• Noise - conducted, radiated, induced, and gener-
ated in ground loops - entering via the data, refer-
ence, and power-supply lines. Includes periodic
and aperiodic, as well as random components.
For convenience, common-mode errors may be
included in this category, since they have the
same effect as ground-loop-coupled noise.
Now let us turn our attention to possible "internal"
error sources; ones that derive from the inherent lim-
itations of circuit technique, and/or imperfections in
the circuit design, components, adjustments, or qual-
ity of control of the converter itself.
• Quantizing uncertainty - i.e., the inevitable uncer-
tainty due to the fact that θ, being an analog quan-
tity, is a continuum (has all values between any ini-
tial condition and any other value to which it has
changed), and the digital output cannot change in
smaller steps than 1 LSB. Thus, if the actual input
value is more than that expressed digitally, but
less than that expressed by an additional LSB,
there is a quantizing error. The higher the resolu-
tion (i.e., the more bits in the angle-data word), the
smaller the uncertainty.
• Nonmonotonicity is the failure of the output to
change in the same direction as the input changes
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS
(a problem at "major carry" transitions) in the out-
put codes of certain types of A/D converters.
• Nonlinearity in the input/output response of the
converter, regardless of the physical cause. This
error cannot be detected by checking the accura-
cy at one or a few points in the range. It is some-
times called "relative accuracy", or the "deviation
from the best straight-line characteristic."
• Calibration error - i.e., difference between the
absolute value of θ and the actual value of the out-
put measure (usually) at full scale, under standard
(nominal) conditions.
• Zero offset, due to internally generated anom-
alous voltages and currents, at any point in the cir-
cuit. These effects are dependent on time, tem-
perature, and power supply.
• Internal noise (and the output "jitter" it causes).
Finally, let us consider the possible sources of error
that may be present at the interfaces - input and out-
put - of the converter:
• Sampling errors - uncertainties caused by varia-
tion in the time of sampling (with respect to some
reference), and in the relative accuracy of the
samples, from channel to channel, or from sample
to sample on a particular channel. ("Accuracy"
includes gain, settling time, and aperture errors.)
• Skew - error caused by sampling different input-
data channels on successive cycles (peaks of ref-
erence carrier wave), caused by the non-simul-
taneity of sampling.
• Staleness - errors caused by the fact that data is
taken (in certain types of converters) only once
per carrier cycle, and any changes in θ between
samples are not reflected in the output reading.
• Hold drift. After sampling, the sample/hold circuit
may not "freeze" the data perfectly, but may drift dur-
ing (or while waiting for) conversion. (This source may
alternatively be considered part of the converter).
70
• Output loading errors.
The worst-case error statement for the performance
of a Synchro/Resolver-to-Digital converter can take
many forms, but the three most useful forms are
these:
1. A statement of the largest possible error in the
digitally coded value of θ, for specific standard
external conditions (nominal values), including a
summation of all internal errors, but excluding
interface errors (multiplexing, separate S/H, etc.).
2. A statement of the largest possible error in the
digitally coded value of θ, including a summation
of both the effects of the rated ranges of external
error sources, and all internal errors, but still
excluding interface errors.
3. A statement of the largest possible error in the
digitally coded value of θ, computed by summing
all possible error sources, for a given set of exter-
nal conditions, a given set of interface hardware,
and a given load.
Ky
θ-φ φ
t
Kv (θ - φ) dt = Kv φ
0
Kv (θ - φ) = dφ/dt
φ
θ
θ, φ VELOCITY
ERROR = θ − φ
TIME
Figure 7.1. I Servo used in many synchro-to-digital
converters, has single-integrator feedback loop, and
exhibits both acceleration and velocity errors.
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

From these three statements, the first might be said
to characterize the typical performance of the con-
verter. It is only useful in that it shows what the
device is capable of doing, given ideal external and
interface conditions. It can be a trap for the unwary.
Beware! The second statement might be said to
define the device's behavior realistically, as a guide
to what external error sources may be tolerated.
Finally, the third statement might be called the "sys-
tem limit of error," and can only be made when the
nature and magnitude of every error source is
known; therefore, it lies most properly in the domain
of the system designer.
Velocity and Acceleration Errors in Type I and
Type II Servos
It is clear from the discussion of the tracking S/D or
R/D converter on pages 19 to 22 that the dynamic
performance of any converter in which the measure-
ment is the result of a null-seeking (or "servoing")
action can be analyzed in the same way that a
closed-loop control system (or servomechanism) is
analyzed. In this field of analysis, a Type I servo is
one in which there is one significant time-constant
(integration) in the feedback loop - i.e., the equation
relation error to correction is a first-order equation.
The correction (feedback) loop is shown in Figure
7.1, as is the graph of response to an acceleration
from rest, followed by a (later) deceleration to rest, at
a new value of θ. As predicted by the equations
shown, both velocity and acceleration errors are
inevitable, for practical loop gains.
Figure 7.2 shows the two-time-constant (double-inte-
grator) Type II servo, its response to an identical accel-
eration from rest, and later deceleration to rest. As the
equations predict, there is still a (momentary) acceler-
ation error, but the velocity error is zero. To summarize:
Type I Converter
In a Type I servo S/D or R/D converter, there are both
acceleration errors and velocity errors in the position
reading (φ):
2
dφ dφ
dt 2 dt
Ea = Ev =
Ka Kv

Ka where Ea = error in f due to acceleration,

Kv Ev = error in f due to velocity,
Ka = acceleration-error constant,
θ-φ φ Kv = velocity-error constant.

dφ/dt In a type I converter:

φ
t t θ
Ka (θ - φ) dt2 = φ Ka = 0
0 0 θ Kv = 2000 (sec –1)
Ka (θ - φ) = d2φ/dt2 ZERO
VELOCITY
Kv (θ - φ) = dφ/dt θ, φ φ ERROR

80˚/sec 2
TIME
Ea = =∞
0
Figure 7.2. Type II Servo used in many advanced-
design synchro-to-digital converters, has double-
integrator feedback loop, and exhibits no velocity (constantly increasing error with constant accelera-
error — although both acceleration errors remain. tion)

71
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

The Relationship Between Bandwidth, Tracking

360˚/sec
Ev = = 0.18˚ Rate and Settling Time for Synchro/Resolver-To-
2000
Digital Conversion

(fixed error at constant velocity) When using the low cost RDC-19220 or RD-19230
series monolithic converter for position and velocity
Type II Converter feedback it is important to understand the dynamic
response for a changing input. When considering
In a Type II servo S/D or R/D converter (such as the what bandwidth to set your converter, several para-
true tracking converter described on pages 19 to 22), meters have to be taken into consideration. The abil-
there is no velocity error, but there is a finite acceler- ity to track step responses and accelerations will
ation error (only during acceleration) in the position determine what bandwidth to select. The lower the
reading (φ): bandwidth the greater the noise immunity. The rela-
tionship between maximum tracking rate and band-
2 width determines the settling time for small and large
d φ dφ
steps. For a small step the bandwidth is what deter-
dt 2 dt
Ea = Ev = =0 (Kv = ∞) mines the settling time; when you have a large step
Ka ∞
the maximum slew rate and bandwidth is what deter-
mines the settling time. It is recommended that you
The dynamic behavior of standard S/D or R/D con- maintain a 4:1 ratio between carrier frequency to
verters is specified in terms of Kv and Ka. Typical bandwidth; this will provide a greater rejection of car-
values and error calculations are given below, for rier frequency ripple. As the bandwidth approaches
both Type I and Type II designs, for typical velocities the carrier frequency, the converter may jitter due to
and accelerations. carrier frequency ripple.

acceleration = 80˚/sec 2 RDC-19220 and RD-19230 Series Transfer

Function
velocity = 360˚/sec
The dynamic performance of these converters can
In a type II converter: be determined from their transfer function. See
Figure 7.3.

Ka = 8000 (sec–2)

Kv = ∞

VELOCITY
80˚/sec 2 OUT
Ea = = 0.01˚ ERROR PROCESSOR
8,000 CT
VCO DIGITAL
RESOLVER
+ e A1 S + 1 A2
B POSITION
INPUT
S OUT
S S +1
- 10B (φ)
(fixed error with constant velocity)

360˚/sec H=1
Ev = = 0˚
∞

(zero error at constant velocity)

Figure 7.3. Transfer Function Block Diagram.

72
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

The components of gain coefficient are error gradi-

ent, integrator gain, and VCO gain. These can be
broken down as follows: A ( SB + 1)
2

Open Loop Transfer Function =

S (10B + 1)
- Error Gradient = 0.011 volts per LSB (CT + Error 2 S
Amp + Demod with 2 Vrms input)

- Integrator gain = (CS•FS) / 1.1•CBW [volts per sec- S = complex frequency variable (j ω)
ond per volt]
Setup of bandwidth and velocity scaling for the opti-
- VCO gain = 1/1.25•RV•CVCO [LSB's per second mized critically damped case should proceed as fol-
per volt] lows:

0.011 1 • Select the desired fBW (closed loop)

•
R1 • CBW • 1.1 Rv • CVCO • 1.25
• Select fcarrier 4 fBW
A1 A2
• Compute:

see converter max. tracking rate

R1 = 1 Rv = 55KΩ •
CS • FS application max. rate

CS = 10pf
3.2 • Fs (Hz) • 10 8
• Compute: CBW (pf) =
FS = 70 KHz when RS = 30 KΩ, therefore R1 @ 1.5 MΩ Rv • (fBW)
2
FS = 100 KHz when RS = 20 KΩ, therefore R1 @ 1 MΩ
FS = 134 KHz when RS = 15 KΩ, therefore R1 @ 750 KΩ
0.9
CVCO = 50 pF • Compute: RB =
CBW • fBW
Setup of bandwidth and velocity scaling for the opti-
mized critically damped case should proceed as fol- CBW
lows: • Compute:
10

EXAMPLE:
Table 7.1. Maximum Tracking Rate in rps
(revolutions per second). Reference: 2 KHz
Ω)
RC (Ω Ω)
RS (Ω 10 12 14 16 Resolution: 16 bits
Bandwidth: 100 Hz
30 K or open 30 K 1152* 288* 72* 18*
Max Tracking: 10 RPS
23 K 20 K 1728 432 108 27 Rc = 30 KΩ
Rs = 30 KΩ
23 K 15 K 2304 576 N/A N/A
Fs = 70 KHz
*Use when computing Rv.

73
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

18 50 pf nominal feedback capacitor. When it inte-

Rv = 55KΩ • = 99KΩ
10 grates to -1.25, the converter counts up 1 LSB and
8 when it integrates to +1.25, the converter counts
3.2 • 70,000 • 10
CBW (pf) = 2
down 1 LSB. When a count is taken, a charge is
99,000 • (100) dumped on the capacitor, such that the voltage on it
changes 1.25 V in a direction to bring it to 0 V. The
= 22626 pf
output counts per second per volt input is therefore:
= .022 µf

1
(Rv) • (50 pf) • (1.25)

0.9
RB = = 398KΩ With Rs @ 30KΩ the internal clock rate is 1,333,333
22626 • 10 –12 • 100
Hz.

CBW Absolute maximum tracking is calculated as follows:

= 2200 pf
10
For a 10-bit converter there are 210 = 1024 counts
per rotation.

Values calculated by using RDC-19220 component 1,333,333/1024=1302.08 rps or 1302.08/4=325.52 x

selection software. (Contact factory or download 1024=333,333 counts per second per volt.
from http://www.ddc-web.com)

1
Rv = = 48 KΩ
Rv = 100 KΩ (333,333) • (50 pf) • (1.25)
CBW = .022 µf
CBW
= 2200 pf
10
This is the absolute maximum rate; it is recommend-
RB = 410 KΩ ed to only run at 90% of this rate therefore the mini-
mum Rv will be limited to 55 KΩ.

Rs=20 KΩ internal clock nominally 2,000,000 Hz.

RDC-19220 or RD-19230 Maximum Tracking Rate Rs=15 KΩ internal clock nominally 2,666,666 Hz.

The tracking rate (nominally 4 volts) is limited by two
factors: Velocity saturation and maximum internal
clock rate (nominally 1,333,333 Hz).
The resistor Rv determines the velocity scaling. It is
the input resistor to an inverting integrator with a
Determining Acceleration Lag and Large Step
Response Settling Time
As you vary the bandwidth and the maximum track-
ing rate this will determine your acceleration con-
stant (Ka) and large step settling time.

74
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

EXAMPLE: Table 7.2. Time Constants

RESOLUTION COUNTS/ROTATION TIME CONSTRAINTS (TC)
Find the acceleration constant (Ka) and the acceler-
ation lag for a system with the following parameters: 10 1024 7

12 4096 8
Resolution: 16 bits
14 16384 10
Bandwidth: 100 Hz
Reference: 1000 Hz 16 65536 11
Max Tracking: 10 RPS
To solve for Ka:

√2 • A
BW = To determine a large step response you must take
π
into account the maximum tracking rate and band-
2
and Ka = A width.

(BW)(π) EXAMPLE:
therefore A =
√2
(BW)(π) 2 Solve for the large step response (179°) settling time
and Ka = for a 16-bit mode system with the following parame-
√2 ters:

2
(100 Hz)(π) Bandwidth = 100 Hz
Ka =
√2
Maximum Tracking Rate = 10 rps

49,348
Ka =
sec 2 360˚
Maximum Tracking = • 10 rps
1 revolution
EXAMPLE: = 3600˚/s

To solve for acceleration rate that results in 1 LSB of error: The Settling Time due to Tracking Rate:

tTR = step size

Acceleration Rate
Acceleration Lag = max. tracking rate
Ka

= 179˚
Acceleration Rate (for 1 LSB error, 16-bit mode) 3600˚/sec
= (Ka)(Lag for 1 LSB error)
= 49 msec
Acceleration Rate (for 1 LSB error, 16-bit mode)
(49,348)(0.0055˚)
=
sec 2
Then we must add the settling time due to bandwidth
Acceleration Rate (for 1 LSB error, 16-bit mode)
limitation; this is approximately 11 time constants in
272˚
= 16-bit mode.
sec 2

75
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

Then, the so-called "speed-voltage" component

1
Time Constant = would be a pair of signals in perfect quadrature to
A
them, with an amplitude (relative to the normal data
A = 222
signals) that is proportional to dθ/dt, the shaft-angle
1 velocity:
= 4.5 msec
A

11 Time Constants = 49.5 msec

Vxs = AK x sin θ sin ωt
Vys = AK y cos θ sin ωt,
Large Step settling time =

1
tTR + • tc
A
= 49 msec + 49.5 msec = 98.5 msec
where tc is the number of time constants
Therefore the approximate settling time for a large
step would be 98.5 msec. This is an approximation.
Synchros and resolvers are used in a wide variety of
dynamic conditions. Understanding how the con-
verter reacts to these input changes will allow you to
optimize the bandwidth and maximum tracking rate
for each application.
Where A is a constant of proportionality, or speed-
voltage coefficient. It is not uncommon for A to
approach unity in modern synchro-sensed systems.
Therefore, speed voltage can hardly be considered
to be negligible, or even a second-order effect
despite the fact that it is often neglected as an error
source, in specifying synchro/resolver converters!
Fortunately, in the more advanced types of syn-
chro/resolver converters, the circuitry discriminates
so effectively against quadrature components that
the susceptibility of the converter to speed-voltage
error is negligible - at least up to very high velocities.

Speed-Voltage Susceptibility

When the synchro or resolver shaft is turning (dθ/dt 1111

not equal to 0), a voltage is generated in the stator by 1110
1101
the motion of the rotor field. This voltage is analo-
1100
gous to the "counter-EMF" induced in the armature 1011
of a DC motor; it is due the "generator action" 1010
inevitably produced by relative motion between a flux 1001
field and a winding. In the synchro or resolver, this 1000
0111
voltage is proportional to the speed, has the same
0110
frequency as the reference carrier, and is in quadra- 0101
ture to the position signal (data) normally found at 0100
any shaft angle. Thus, if the normal resolver-format 0011
signals produced at θ are: 0010
0001
0000
ANALOG OUTPUT FULL
V x = K x sin θ sin ωt (OR INPUT) SCALE
V y = K y cos θ sin ωt,
Figure 7.4. Ideal Transfer Function for a D/S
(or S/D) Converter.

76
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

All converters should of course, be rated for "speed-
voltage susceptibility" ... usually in terms of the high-
est velocity at which a given synchro or resolver may
be driven without causing an increase in the conver-
sion uncertainty (decrease in accuracy from rated
value).
Let us consider the effects of speed voltage of the
tracking converter described on pages 19 to 22. The
normal data signal presented to the demodulator is:
K x sin θ cos φ sin ωt
K y cos θ sin φ sin ωt,
which has been shown to be equal to
K sin(θ – φ)sin ωt
provided Kx = K y = K
and, for small values of (θ – φ),
In the presence of speed voltage, the demodulator
receives another signal component, in quadrature:
AK sin(θ – φ) cos ωt ≅ AK (θ – φ) cos ωt
revolutions/second
where A =
carrier frequency
If the demodulator has infinite quadrature rejection,
no speed-voltage error would result; however, for
very large values of A, saturation might occur in the
demodulator, causing large errors. A well designed
demodulator should have wide dynamic range and
excellent quadrature rejection ... which points out the
advantage of using a synthesized reference as dis-
cussed on page 22. (See page 83 for calculation of
quadrature rejection.)
Resolution, Linearity, Monotonicity, and
Absolute Accuracy

These terms have the same meaning and impor-

K sin(θ – φ) ≅ K (θ – φ) sin ωt
tance for synchro/resolver-to-digital converters as
they do for conventional analog-to-digital converters.
The resolution of a converter is the weight of the
smallest change in its digital output or the weight of
the least-significant bit (LSB). Calculation of this
parameter was explained on page 9, but the basic
expression is repeated here, for convenience:
10001

LSB = full scalen angle

10000
2
IDEAL
CHARACTERISTICS
01111 Where n is the number of bits in the conversion. For
most converters, full scale is 360°, so for a 16-bit
01110 converter the LSB is:
"MISSING CODE"
01101
NON-MONOTONICITY 360˚
AT "MAJOR CARRY" LSB = 360˚ = ≅ 0.0055˚
01100 2 16 65536
ANALOG INPUT

Note that if noise introduced by either the external

Figure 7.5. Nonmonotonic Behavior circuit or the converter circuitry itself is larger than
in an S/D Converter. ±1/2 LSB (peak), the usable resolution will be

77
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS
ACCURACY (Note 1): ±1 arc minute
RESOLUTION: 16 bits
CODING: Natural Binary Angle
MAX. TRACKING VELOCITY: 360°/sec
1 LSB ERROR
ACCELERATION: 45°/sec/sec
NOTE 1: Accuracy applies over rated operat-
ing temperature range, 5% variation of power
supplies, 10% amplitude and frequency varia-
tion, and up to 10% harmonic distortion of
synchro and reference inputs.
Figure 7.6. Example of a Valid Accuracy Statement.
reduced by making it impossible to depend on
changes as small as 1 LSB.
The linearity of a converter is the measure of the
maximum deviation from the ideal transfer function
shown in Figure 7.4. These are two kinds of lineari-
ty: integral and differential.
• Integral nonlinearity is defined as the maximum
deviation from a straight line drawn through the
ideal transfer function, and is usually expressed as
a percentage of the nominal full-scale value.
• Differential linearity is a measure of the deviation
of the digital output from equal step-per-bit behav-
ior. The worst-case deviation of the smallest or
largest step (bit) from the theoretical (LSB) size.
The differential nonlinearity is expressed as a per-
centage of the theoretical LSB.
Monotonicity is the property of S/D, R/D and A/D
converters that ensure that an increase in the analog
input will never cause a corresponding decrease in
the digital output. In some kinds of converters
(notably, the kind that employ successive approxima-
tion or table-look-up techniques), nonmonotonicity
can occur at "major carry" transitions, as shown in
78
Figure 7.5, for the transition from 01111 to 10000.
The cause of the nonmonotonic behavior shown in
the transfer characteristic of Figure 7.5 is a small
error in the circuit that establishes the most-signifi-
cant ONE or an error pile-up in the circuitry for the
other, less significant bits, or both.
In either case, the effect is to associate a decrease
in analog signals with an increase in the digital
result. (If the analog signal changes by more than
one bit, but less than two bits, but the digital signal
fails to change [skipping to a two-bit or larger step
when the analog input changes even more] this is
called a "missing code." It may be considered to be
a special form of nonmonotonicity.) Pulse-train-and-
counter forms of S/D or R/D converters, like the har-
monic oscillator designs described in Section II,
have inherently perfect monotonicity since they
always convert in uniform steps, and do not have cir-
cuitry that can produce major-carry conversion
errors.
Accuracy is the most abused term in the entire field
of "specmanship." Part of the abuse stems from
loose language and from differences between meth-
ods of measurement.
Absolute accuracy must be measured (and/or
specified) under a standard set of conditions, and
must include all of the variation in operating range,
environment, signal characteristics, and all parame-
ters that make up the ratings of the instrument.
Finally, these variations must be allowed for in the
LED
INPUT +5V
Figure 7.7. LED Driver Schematic.
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS
worst possible combination of their effects on the
reading. Then, and only then, will the following defi-
nitions be valid:
• Absolute accuracy is defined as the maximum
deviation of any conversion (any reading, in the
case of instruments) from the rated transfer char-
acteristic, measured with reference to the absolute
under standard conditions, such as the National
Bureau of Standards (NBS) and over all rated
operating ranges. It is expressed (usually) as a
percentage of the rated full-scale value.
• Relative accuracy is measured and expressed in
the same way, but is defined in terms of the actu-
al, rather than the rated, full-scale value. Note that
this means that Relative accuracy is merely anoth-
er way of defining Linearity!
An example of a valid Absolute accuracy statement
is given in Figure 7.6.
Static Errors and Instabilities
At times, the Absolute accuracy rating, or even the
Relative accuracy rating, of a converter is too harsh
a judgement in the sense that any application may
not impose the full range of rated variations on the
converter. For this reason, it is important to be able
to measure and predict all of the components of error
that contribute to the total worst-case uncertainty.
One group of these components of error, each sepa-
rately measurable, is the so-called "static" sources of
error. They do not arise from either signal dynamics
or signal characteristics. These include:
• Input Offsets (voltage and current) in multiplexers,
sample/holds, and any DC-coupled circuitry inside
the converter — These may be susceptible to
external "trimming" (Zeroing), but, since they drift
with time, temperature, and power supply, such
adjustments are at best crude and temporary cor-
rections. The best equipment has inherently low
offsets, inherently high offset stability, is rated for
untrimmed service and all initial adjustment done
at the factory only. Low current offset is mandato-
ry for high-impedance sources.
79
• Gain errors and drifts — These result in calibration
(scale) errors, and may be trimmed out for any one
temperature and power-supply condition, at any
time, but will inevitably drift again. Here again, the
best plan is to select a design that has inherently
accurate and stable full-scale calibration, without
the trimming.
Measurement of static error components in S/D or
R/D converters is relatively straightforward and easy.
The converter is connected to its synchro or resolver
transducer, and operated at the typical values of tem-
perature and power supply (or line voltage, if self-
powered). The transducer is excited by the typical
sine wave reference carrier, and is aligned so that
electrical and mechanical zero coincide to an accu-
racy significantly higher than the converter resolu-
tion. If the converter has a zero-setting adjustment,
it is used to set digital output to zero (e.g., all
ZEROES, in natural binary code). If the converter
has no zero adjustment, the digital output at zero
data input is a measure of zero offset. (NOTE: allow
a reasonable warm-up time, to ensure thermal equi-
librium. The manufacturer will recommend a warm-
up delay period, if one is required.)
Maintaining the above typical conditions, the zero
drift with time may then be observed by monitoring
the digital output. (Figure 7.7 shows a useful display
circuit for monitoring each digital output terminal.)
Remember that all other parameters: temperature,
power-supply levels, reference-carrier amplitude, fre-
quency, and waveform, must be held constant during
the entire period of the test. Gain stability is mea-
sured by repeating all of the above steps for a full-
scale input (corresponding to a full-scale digital out-
put - i.e., all ONES in natural binary code), and
observing the output variation with time.
Temperature effects may be observed by raising the
ambient temperature of the converter (only) to the
rated upper limit. Allow it to reach the new thermal
equilibrium, and then observing the output for both
zero and full-scale inputs. All other parameters must,
of course, be maintained at typical values. Repeat,
for an ambient temperature and at the rated lower
limit.
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS
Return the converter to thermal equilibrium at the
typical ambient temperature (i.e., 25°C), and raise
the power supply levels to the rated upper limits, and
observe the digital output at both zero and full-scale
data inputs. (Changing the power supply levels will
probably require waiting for a new thermal equilibri-
um, since the internal dissipation will change.)
Repeat the test with the power supply levels at the
rated lower limits.
Time-stability tests may also be run at various com-
binations of upper and lower temperature and power
supply limits, but these may not be any more signifi-
cant than the typical time-stability tests.
Maximum Tracking Rate
Regardless of the circuit approach used in a S/D or
R/D converter, there is an upper limit on the velocity
EFFECTS OF
NOISE
DIGITAL VALUE
IDEAL TRANSFER
CHARACTERISTIC
ANALOG VALUE
PROBABILITY
DISTRIBUTION
OF NOISE
ENERGY
±1 LSB
Figure 7.8. Effect of Gaussian Distribution of Noise
on Performance of and S/D Converter.
80
(the rate of change of θ) that it can measure without
exceeding its rated error. This is just as true for the
"true tracking" converters as it is for harmonic-oscil-
lator and successive approximation designs; they
may have different upper limits of dθ/dt, but they all
have such a limit.
The Type-II-loop tracking converter described on
pages 19 to 22 may have no velocity error when
dθ/dt implies a counting rate that is higher than that
provided by its VCO (pulse generator), then it cannot
track θ, and will exhibit a rapidly increasing error.
Similarly, in the successive approximation and har-
monic-oscillator converters, the "staleness" error
increases in direct proportion to dθ/dt. Since the
converter samples once on each carrier peak, the
staleness (difference between the digitized value of
the sampled data and the actual value of θ just
before the next sample) will exceed the allowable
system error when θ changes more than that allow-
able error limit in one carrier period.
Measuring the tracking rate limit of a Type II con-
verter requires special equipment. One method of
several in current use is described here:
• Drive the synchro or resolver at a constant veloc-
ity well below the rated upper limit, and measure
the repetition rate of the MSB pulse on an electric
frequency meter (counter-timer).
• Slowly increase the velocity of the synchro or
resolver until the measured repetition rate of the
MSB pulse is no longer exactly proportioned to
the velocity. (Make several measurements of rep-
etition rate at each increment of velocity, to ensure
that no acceleration errors are present, and
explore the velocity region near the apparent limit
carefully, to be sure that you have found the exact
velocity at which the repetition rate departs from
proportionality.)
Measurement of the tracking rate limit of sampling
converters is meaningless, because "staleness"
error is readily calculated (see page 28), and no
other limitation in the converter is significant.
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS
"Skew" in Sampled Systems
As described on pages 30 to 33, multi-channel sys-
tems that employ a single multiplexed S/D or R/D
converter and a single sample-hold that samples the
channel (sequentially or randomly) on successive
carrier peaks exhibit a skew error proportional to the
velocity. If θ can vary at a rate of:
dθ
VMAX =
dt
max˚/sec
and the carrier frequency is:
ω
f= Hertz
2π
then the maximum skew error, between the first and
Nth channel sampled is:
n=N NVmax
E skew = ˚/sec
n=1 f tion of S/D or R/D converters is used for system safe-
Measurement of this parameter is meaningless,
since it is readily calculable from the system charac-
teristics, and is unaffected by system performance -
assuming the system functions normally.
Quantization Uncertainty
We have already mentioned the inevitability of a
quantization uncertainty of ±1/2 LSB in synchro-to-
digital or resolver-to-digital conversion (page 20) and
we have also noted that noise (random or periodic)
can enlarge the quantization-uncertainty "band"
without limit. Figure 7.8 illustrates the relationship
between the Gaussian, "white" noise, distribution of
peak energy and the number of bits of uncertainty
one may observe, and demonstrates that it is not
necessarily correct to assume that the quantization
uncertainty is at its minimum value of ±1/2 LSB. Only
a test program that observes the last few LSB's, with
input set at full scale -1/2 LSB will verify that noise
has not broadened the quantization-uncertainty
"band."
81
Jitter Due to Hunting in Tracking Converters
As noted in our discussion of the tracking converter
(pages 19 to 22), the quantization uncertainty in the
digital output requires that inclusion of a hysteresis
threshold in the error-processor loop. This hysteresis
is made smaller than the LSB; but, as discussed
above, noise or other disturbances (such as very
rapid speed pulsation in the system) will cause the
output of the converter to hunt or jitter around some
average value. Again, only careful observation of
several of the least-significant bits, with a data input
of full-scale -1/2 LSB will eliminate noise as the
source of jitter. Jitter due to speed pulsations is a
normal and correct response to the acceleration -
deceleration cycles implicit in the input variation, and
can only be accepted or ignored by not using the bits
that represent the hunting "band."
LOS Circuit to Detect Loss of Signal
The loss of signal (LOS) output of the new genera-
ty and diagnostics. This circuit monitors the sine and
cosine signals at the input of the converter and
changes logic state if both signals are disconnected
at the same time. With disconnected inputs convert-
er performance and output are unpredictable, and if
in a motion control or monitoring system could cause
serious problems.
BIT Logic to Detect Malfunction
In some modern synchro-to-digital or resolver-to-dig-
ital converters, a Built-In-Test (BIT) capability is pro-
vided, to signal when the velocity limit of the con-
verter is exceeded, and/or when an internal malfunc-
tion has caused an erroneous digital output. One
implementation of this circuit takes advantage of the
fact that excessive velocity, as well as many gross
malfunctions that can occur in the converter, result in
an error-processor output that exceeds a predeter-
mined threshold for a sustained period. Once this
abnormal state is detected a one-bit signal is deliv-
ered to the BIT output terminal. In angle indicators,
this datum may be used to blank the display, or to
light a warning indicator.
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

Harmonic Errors Quadrature Errors

Even-order harmonics (2nd, 4th, 6th, etc.) in the data
signal fed to a tracking converter are effectively
rejected by the phase-sensitive demodulator in the
error processor. (The degree of rejection will be dis-
cussed next). Odd harmonics - the 3rd, 5th, 7th, etc.
- do cause an error, and their effect on the output
must be considered. A safe approximation of their
effect, which assumes the worst possible phase rela-
tionship between the harmonic and the fundamental
is that the error (EH) due to a particular harmonic
component is:
The quadrature rejection of an ideal balanced
phase-sensitive demodulator is theoretically infinite,
provided that the time-phase of the reference carrier
fed to it is the same as that of the in-phase compo-
nent of the data signal to be demodulated by it or, if
the time-phase difference between the quadrature
component and the reference carrier is exactly 90°.
Reference phase error (departure from the above)
yields some error output in response to quadrature
component, in accordance with the following approx-
imation.

(%QC)
(%THC) EQ = tan α radians
EH = radians 100
100n
where: EQ is the error due to the quadrature compo-
Where %THC is the total harmonic content, nent in radians; (%QC) is the quadrature component
expressed as a percentage of the fundamental, and of the input signal to the demodulator, expressed as
n is the order of the harmonic in question. a percentage of the input data signal; and α is the
reference-to-data time-phase error in degrees.
The total error due to all (odd) harmonic components
is conservatively estimated by the summation: It is clear from the above equation that the quadra-
ture rejection of an ideal phase-sensitive demodula-
n=N tor may be estimated at:
Σ
(%THC)
E H= radians
n=3
100n
or 1
Quadrature Rejection =
tan α
(%THC) 1– 1+1 …
EH = radians
50 3 5 7
Note that for α = 0, the rejection is infinite.

If all odd harmonics are present, the expression The speed-voltage error, EVS, of a converter may be
approaches a practical limit of: calculated from A, the ratio of speed voltage to data
voltage (see page 74):
(%THC)
EH = radians
50 speed voltage
E VS = tan α radians
data voltage
In most sampling S/D or R/D converters, errors due
E VS = A tan α radians
to odd harmonics are not attenuated by n, but rather
are felt fully and estimated by:
Practical (as opposed to ideal) demodulators have a
finite rejection ratio for both even harmonics and
(%THC) quadrature components, independent of the refer-
EH = radians
100 ence-time-phase errors described above. If the

82
 MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

rejection coefficient at α = 0 is Kd, then the above One additional source of sine/cosine ratio error is the
equations must be modified to reflect this practical inability of the converter to reject anomalous input
limit. Thus, the preceding equation would become: signals, such as:

• Common-mode voltages at the carrier frequency

(due to ground loop signal injection and/or stray
1
E VS = A tan α + radians pickup from carrier-frequency electromagnetic
Kd and electrostatic fields).

• Carrier-frequency ripple components in the power

A typical value for Kd is 200. supply voltages.

Amplitude Errors • Interaction between adjacent channels in a multi-

channel system.
In the most advanced synchro-to-digital or resolver-
to-digital converters, the only amplitude errors that The magnitude of such errors may be estimated by
are significant are those that alter the ratio of the sine computing the affect on the converter of a change in
and cosine data signals in the resolver format signal the sine/cosine ratio (δ):
set. These can result only from gain (transfer func-
tion) inequalities in any of the following elements of (1+ δ)sinθ
K(1+ δ)Vx
the system: = = (1+δ) tan α
KV y cosθ

• The synchro or resolver (rotor-to-stator gain

inequalities). The error in the measurement of θ, Eamp, due to a
ratio error δ is, then
• The isolation or Scott-T transformer.

• Sample-Hold circuits. E amp = tan –1(δ) radians

• Multiplexers (and buffer amplifiers associated with and since for very small angles,
them).
tan δ ≅ δ
• Unbalanced loading of the signal sources (and of
the cabling between them and the converter Eamp = 57δ degrees
inputs).

83
MEASURING AND COMPUTING SYNCHRO/RESOLVER-TO-DIGITAL
AND SYNCHRO/RESOLVER-TO-DC CONVERTER PARAMETERS

THIS PAGE INTENTIONALLY LEFT BLANK

84
 MEASURING AND COMPUTING DIGITAL-TO-SYNCHRO
OR DIGITAL-TO-RESOLVER CONVERTER PARAMETERS

SECTION VIII

Worst-Case Error Analyses of Typical Digital-to- • Nonlinearity

Synchro (D/S) or Digital-to-Resolver (D/R)
Converters • Calibration error (gain error)

All of the error sources to be considered here have • Zero offset

already been mentioned in the preceding section for
the very simple reason that many Synchro-to-Digital • Internally generated noise
(S/D) or Resolver-to-Digital (R/D) converters incor-
porate a D/S or D/R converter. (Compare, for exam- • Function-generation errors
ple, Figure 2.5 and 5.1.) By isolating the circuit ele-
ments specifically used in the D/S or D/R function, The above list is relatively shorter than that for the
we can develop insight into the error sources that S/D or R/D converter; primarily because there is
affect them only. much less circuitry in the D/S or D/R converter, but
also because the D/S or D/R converter does not have
Of the many error sources listed and discussed in to supply the critical synchro- or resolver-input inter-
Section VII, the following may be significant, in some face. The digital-input interface is much less critical
or all of the D/S or D/R configurations in common use: (because it is digital), and the synchro- or resolver-
output interface is inherently less demanding.
External Influences:
For a discussion of the various methods of combin-
• Ambient-temperature changes ing the effects of these error sources, please refer
back to the similar discussion in Section VII.
• Power-supply changes
Static Accuracy (Network) Errors
• The passage of time
A primary concern in all D/S or D/R converters that
• Environmental effects: Humidity, Altitude, use function-generating networks (which means, of
Corrosion, Shock, Vibration, etc. course, the great majority of converters) is the
integrity with which the output generates the required
• Noise sine or cosine function in response to the digital
input. Ignoring such serious limitations as high cost,
• Reference harmonics size, and weight, the ratio-transformer types of func-
tion generators (see pages 17 and 18) are inherent-
Interface Influences: ly the most accurate.

• Asymmetrical or excessive loading of the convert- Weighted resistor-ratio networks are subject to the
er by the synchro or resolver following uncertainties:

• Inadequate drive (or level mismatch) at the data • Initial tolerances on the ratios
input or reference-input interfaces
• Drift in ratio (failure to track) with respect to time
Internal Influences: and temperature

• Nonmonotonicity • Offset voltages and currents in the switch circuitry

85
 MEASURING AND COMPUTING DIGITAL-TO-SYNCHRO
OR DIGITAL-TO-RESOLVER CONVERTER PARAMETERS

• Drift in offset voltages and currents, with respect to
time, temperature, and power-supply levels
• Transient errors at high speed - e.g., failure to set-
tle in a time consistent with the conversion rate,
inadequate slew rate, "glitches"
• Inadequate bandwidth at the reference-carrier fre-
quency, in one or more regions of the ratio range
(This is rarely a significant error source, in a rea-
sonably well-designed network)
Selectively loaded resistor-ratio networks are subject
to all of the above error sources, plus the inevitable
approximations inherent in the loaded-linear-network
approach. On the other hand, the initial-tolerance
problem is less severe in constructing a linear net-
work, so the ultimate performance of this class of
networks (for applications requiring no greater than
1-minute long-term accuracy) is superior to many
weight-ratio designs).
Static testing of D/S or D/R networks (see Figure 8.1)
requires very little equipment: a set of switches for
applying the logic levels corresponding to various
digital inputs; a stable reference-carrier signal
source; a load and a four to five-digit angle indicator.
(A phase-sensitive digital voltmeter is practical, but
requires calculations.) Dynamic testing is discussed
later in this section.
Effects of Settling Time and Maximum Slew Rate
The dynamic response parameters of the function-
generator network, the output amplifier, and the var-
ious logic circuits employed for quadrant selection
can all contribute constraints to the dynamic perfor-
mance of a D/S or D/R converter. The overall
dynamic performance parameters of interest are:
• Settling Time, which in turn limits data throughput
rate - i.e., the number of accurate
conversions/second
• Slew Rate, which in turn limits dynamic range and
(indirectly) data throughput rate
• "Glitch" energy, which imposes limits on both the
useful data throughput rate, and (indirectly) the
dynamic range
Figure 8.2 illustrates all three dynamic performance
factors listed above. Note that the glitch-area ener-
gy (volt-seconds) may be much larger than one
might infer from the ±1/2 LSB bandwidth shown as a
reference, provided that either one of the two com-
pensatory system accommodations have been
made:
1. A delay has been imposed (e.g., by inhibit-gate
techniques) between the application of the digital

CT LOAD
STABLE
OSCILLATOR

Vref
MSB
ANGLE
INDICATOR
+ OR
PAV
D/S OR D/R
OUTPUT
ONE CONVERTER
LEVEL UNDER
TEST

Figure 8.1. Testing D/S (or D/R) Converters.

86
 MEASURING AND COMPUTING DIGITAL-TO-SYNCHRO
OR DIGITAL-TO-RESOLVER CONVERTER PARAMETERS

step-function change and the application of that
change to the output circuit, to allow the glitch to
settle out.
2. Sufficient filtering between the converter and the
load (synchro or resolver) has been provided - or
is naturally present in the form of mechanical iner-
tia - so that the effect of the glitch-area energy is
rendered negligible. The accommodation implies
a sacrifice in slew rate and data throughput rate, of
course.
Dynamic testing of D/S or D/R converters may best
be done with the aid of a computer, a ROM (read-
only memory), or some other high-speed store-pro-
INPUT "STEP" "GLITCH" AREA
CHANGE
1/2 LSB
SETTLING
INPUT & OUTPUT
gram device; however, manual test methods are
practical, if slow and laborious. Figure 8.3 shows a
test setup that used manually switched input words,
strobed from a storage register into the D/S or D/R
converter by means of a pulse that also simultane-
ously triggers a storage oscilloscope. (An oscillo-
scope equipped with fixed or adjustable signal delay
is preferable, to avoid loss of the earliest part of the
response characteristics). Assuming that the static
characteristics have already been verified, the
dynamic response of the carrier envelope may be
qualitatively judged from the single-transient record-
ing provided by this setup.
In the real world of physical systems the D/S or D/R con-
verter has a transfer function of one for small input step
changes. For large input step changes the output trans-
formers and/or the load (if it is inductive it may saturate or
become non-linear) may cause large transients. This can
also occur at power turn on. In either case the result will
be high power supply demands by the power drivers. It is

important, therefore to avoid large input step changes and,

(NORMALIZED)

TIME
if multiple D/S or D/R converters are used to drive induc-
SLOPE = SLEW RATE tive loads, to sequence the application of power to them.

Loading Errors

To be meaningful, all tests on D/S or D/R converters

TIME must be made with either the actual or simulated
synchro or resolver load connected. The actual load
Figure 8.2. Dynamic Parameters of D/S Converters. to be driven is by far the better choice. As discussed

Vref

R
+ E
G D/S OR D/R
I CONVERTER
ONE S UNDER
LEVEL T TEST V TRIG
E
R V
MANUAL
SWITCHES
ONE
SHOT

Figure 8.3. Dynamic Testing of a D/S (or D/R) Converter.

87
 MEASURING AND COMPUTING DIGITAL-TO-SYNCHRO
OR DIGITAL-TO-RESOLVER CONVERTER PARAMETERS

on pages 85 and 86, the power amplifiers and output
transformer are critical elements in the overall accu-
racy-determining chain. This is particularly true if the
synchro or resolver specification allows significant
unbalance in its loading on the converter.
(Unbalance can be simulated statically by paralleling
one or more windings of symmetrical synchro or
resolver with additional resistive or reactive loads.)
The principal effects of loading on the performance
of a D/S or D/R converter are:
• Increased nonlinearity in certain regions
• Degradation of slew rate and data throughput rate
• Increased drift, due to self-heating
• Decreased absolute accuracy, due to gain loss
Figure 8.4 shows a static test setup that employs
manually switched data inputs, and a precise read-
out of shaft angle, using another synchro or resolver
transducer and a synchro or resolver angle readout
as the result-reporting instrumentation. (Clearly, the
accuracy of the instrumentation should be an order
of magnitude better than the accuracy of the con-
verter under test.)
Amplifier Mismatch Errors
Some D/S or D/R converters do not provide the
exact voltage, power, or impedance ranges
required by the synchro or resolver to be used. At
first glance, it would seem that this kind of mis-
match is unimportant, provided that the load falls
within the limits implicit in the ratings of the D/S
or D/R converter, but that is not always the case.
For example, a D/S or D/R converter rated to
deliver 90 Volts into 5,000 Ohms or more can be
used to drive a 26 Volt, 12,000 Ohm synchro or
resolver control transformer, but the slew rate,
accuracy, linearity, and possibly the data through-
put rates of the converter will be altered consid-
erably by the restricted range of operation and
the lightly loaded condition of the output amplifi-
er. These mismatch effects can usually be avoid-
ed or compensated for, by either internal or exter-
nal design modifications.
Static Errors and Instabilities
Refer to pages 79 and 80, on which this subject
has been discussed in detail for S/D or R/D con-
verters, and follow the same general procedures
for testing, substituting the test circuits given in
this section. Note that reference, power-supply,
and temperature changes have far less effect on
D/S or D/R converters than they do on S/D or R/D
converters, because almost every critical para-
meter is derived as a ratio. Even the basic refer-
ence-carrier signal cannot have a first-order
effect on accuracy, because the analog data out-
put (the angle θ) is synthesized as the ratio of two
carrier-frequency amplitudes, both derived from
the same reference input.

STABLE
OSCILLATOR
Vref CT
INPUT
D/S OR D/R
LOGIC + CONVERTER PAV
ONE UNDER
LEVEL TEST
(INCLUDING DIAL
ANY REQ'D INDICATOR
AMPLIFIERS) (GONIOMETER)

Figure 8.4. Testing D/S (or D/R) Converters Under Load.

88
 TYPICAL APPLICATIONS AND INTERFACE CONSIDERATIONS

SECTION IX

Parameter Tradeoffs vs. Price Typical Interface Circuits (Input and Output)

In general (but with many exceptions and even a few
inconsistencies, notable from manufacturer to manu-
facturer), the following approximate relationships
hold true for synchro/resolver-to-digital converters:
• Price increases with accuracy, when in the range
of ±0.5 to ±1 minute.
• Price increases with operating temperature range,
for a given electrical performance. The most com-
mon ranges are 0° to +70°C, -40° to +85°C and
-55°C to +125°C. The prices for the wider ranges
are higher.
S/D REG.
INH CB
STROBE
CPU
Figure 9.1a. Forced synchronization between
S/D and system.
The following selected discussions are representa-
tive of the design considerations encountered by the
system planner in the field, but this information can-
not do more than suggest the broad range of tech-
niques possible for system optimization.
One large group of interface problems concerns syn-
chronizing the converter (S/D or D/S) with the other
elements in the system. Older S/D converters pro-
vided either a "Converter Busy" signal (CB), or a
"Data Ready" pulse (DR). This allowed the designer
to prevent data transfer or use while a conversion
was in process, thereby avoiding incorrect readings
(or invalid data). System compatibility was also
enhanced, in these S/D converters, by a Conversion
Inhibit terminal INH, which permitted holding output
data stable during transfer. Figures 9.1a through
9.1d show various ways of using these CB, DR,
and/or INH signals in older converters. The newer
generation of S/Ds or R/Ds have internal latches and
tri-state output buffers and are much easier to inter-
face. We will discuss these S/Ds and R/Ds later.
• The simplest method of forcing synchronization
between an older S/D converter and system timing
is to use the inhibit (INH) line. Figure 9.1a illus-
trates this technique. In most converters with an
INH line and Converter Busy (CB) pulse, the CB

60* µs MIN.
CONVERTER DEPENDING
BUSY (CB) "1" ON dθ/dt

"0" Z
3 µs

"1" Z
INHIBIT
APPLIED (INH)
"0"

DATA TRANSFER 5 µs 5 µs

* 15 µs for Fast Tracking 4 rps units (14-bit resolution)

Figure 9.1b. S/D Converter Timing.

89
 TYPICAL APPLICATIONS AND INTERFACE CONSIDERATIONS

pulse will complete its cycle once it starts. The
INH will prevent it from starting, but if CB has start-
ed before an INH is applied, the CB will continue
to completion (generally 2-4 µs) and then strobe
the data into a register or computer for use in the
system. Figure 9.1b shows typical timing wave-
forms for such S/D converters.
• Figure 9.1c illustrates older S/D converter asyn-
chronous data transfer - i.e., data transferred to its
destination whenever the S/D converter has it
available (regardless of system timing). A flip-flop
buffer register is enabled to receive the output of
the converter (by jam transfer) when CB changes
to CB ... from logic ONE to logic ZERO. The con-
verter is then free to perform its next conversion,
leaving the previous datum in the register.
• The response of most D/S converters is extreme-
ly fast, and digital data may generally be fed into
the converter, without regard to the converter's
response time. In some cases, however, such as
in multiplexed systems, or where the D/S convert-
er is on a data bus, the data is only valid for a short
period of time. For these cases an input buffer
register must be provided, as shown in figure 9.1d.
This allows strobing the data into the converter at
the appropriate time and holding it until the next
update. Most digital data sources provide a strobe
line for entering the data into a register.
Newer D/S or D/R converters have double-buffered
input latches making the use of external registers
superfluous.
Transferring data from the newer S/Ds or R/Ds with
internal latches and tri-state buffers to 8- and 16-bit
buses is shown in Figures 9.1e through 9.1h. In
these converters the INHIBIT command will lock the
data in the output transparent latch without interfer-
ing with the continuous tracking of the converter's
feedback loop. Therefore, the counter is still allowed
to update and the inhibit can be applied for an arbi-
trary amount of time without having to worry about
reacquisition time.
MSB
R
E
G D/S
I
S CONVERTER
T
E
R

LSB

STROBE
OR
USE
DELAYED
MSB GATE OUTPUT
MSB
or DELAYED
CB S/D BUFFER TO COMPUTER, STROBE SIGNAL
CONVERTER REGISTER PRINTER, ETC. FROM SOURCE
ONE-SHOT
DELAY
LSB LSB

STROBE

FROM DATA
SOURCE

Figure 9.1d. Eliminating the Effects of Random

Figure 9.1c. Asynchronous Data Transfer. Propagation Delays.

90
 TYPICAL APPLICATIONS AND INTERFACE CONSIDERATIONS

(MSB) BIT 1 D7(MSB)

EM
BIT 2 D6
EL
BIT 3 D5
BIT 4 D4
BIT 5 D3 8-BIT BUS
BIT 6 D2
BIT 7 D1
RDC-19220 BIT 8 D0 (LSB)
SERIES
BIT 9
BIT 10
BIT 11
BIT 12
BIT 13
BIT 14
BIT 15
(LSB) BIT 16

INH

Figure 9.1e. Data Transfer to 8-bit Bus.

INH

300 ns MAX

;;;;;;;
EM 150 ns MIN

;;;;;;;
DATA 1-8
100 ns MAX
VALID

;;;;;;;
EL 150 ns MAX

;;;;;;;
DATA 9-16
VALID
100 ns MAX

Figure 9.1f. Data Transfer to 8-bit Bus Timing.

91
TYPICAL APPLICATIONS AND INTERFACE CONSIDERATIONS

EM EL

(MSB) BIT 1 D15 (MSB)

BIT 2 D14
BIT 3 D13
BIT 4 D12
BIT 5 D11
BIT 6 D10
BIT 7 D9
BIT 8 D8
RDC-19220 16-BIT BUS
SERIES BIT 9 D7
BIT 10 D6
BIT 11 D5
BIT 12 D4
BIT 13 D3
BIT 14 D2
BIT 15 D1
(LSB) BIT 16 D0 (LSB)
INH

Figure 9.1g. Data Transfer to 16-bit Bus.

INH

;;;
300 ns MAX

EM, EL
150 ns MAX

DATA 1-16
VALID
;;;;;;
;; 100 ns MAX

Figure 9.1h. Data Transfer to 16-bit Bus Timing.

92
 TYPICAL APPLICATIONS AND INTERFACE CONSIDERATIONS
Another large group of interface problems concerns
preserving the integrity of the input signals. Figures
9.2a - 9.2b illustrate several important techniques
commonly used to avoid error-inducing conditions at
the data and reference inputs of an S/D converter.
Figure 9.2a shows recommended safeguards against
the error sources that may be introduced by long-line
cabling between remote transducers and the convert-
er inputs. These error sources have all been dis-
cussed earlier (see page 69) and need only to be list-
ed here: common-mode voltages: ground-loop sig-
nals; electromagnetic pickup; and electrostatic pickup.
The remedies suggested by Figure 9.2a are as fol-
lows:
• For common-mode voltage (CMV), use of a care-
fully balanced isolation circuit, providing high
CMRR (common-mode rejection ratio). This
CMRR also attenuates ground-loop signals that
may be included in the signal path.
• For electromagnetic pickup, triple-twist shielding
of the cables and the input transformer ... and pos-
sibly of the entire converter, if the disturbing field is
very strong.
• For electrostatic pickup, shielding of the cables and
(probably) an electrostatic shield on the transformer.
BALANCED
CX R/D
SCOTT-T
CONV.
TRIPLE TWISTED ISOLATION
VRef
(12 TURNS/FT)
SHIELDED INSULATED
CABLE
VRef
S/D CONVERTER
CMV
ELECTROSTATIC
SHIELD GROUNDED
LOCALLY
Figure 9.2a. Ensuring Input Interface Integrity.
• For noise, broadly tuned bandpass filtering, with
negligible phase shift in the pass band, which is
centered on the carrier frequency.
Note that Figure 9.2a implies coupling paths that are
not normally considered in high level DC input cir-
cuits, but that may become more important at 400 Hz
(and its harmonics) in high-precision devices. Note
also that the best of modern S/D or R/D converter
designs provide very well isolated, guarded and bal-
anced high-impedance input circuits. Note also that
cable impedance may be a problem, if the input
impedance at 400 Hz is too low.
Figure 9.2b shows a simple means of provided high
CMRR to a resolver-to-digital converter, the input of
which is not well balanced. The unity-gain differential-
input buffers provide balanced, high-impedance inputs,
low output impedance, and excellent long-term gain
accuracy. Offsets are unimportant because the signals
are AC coupled. Note that this aid is not required if the
converter is designed with a proper input circuit.
Let us now consider two input-circuit problems fre-
quently encountered in module or PC board configu-
rations (and other similar high-density system con-
structions), and simple means of preventing them.
One concerns digital-to-analog feedback caused by
common grounds and stray coupling, and the other
concerns pickup of power-supply spikes (and even
DIGITAL
OUTPUT + R R
θ
-
kR1
-
Vref
Vx INPUT
R1 +
kR1
- CONVERTER
RESOLVER GROUND
+ R
R
k<<1
Vy INPUT
SAME CIRCUIT AS ABOVE
Figure 9.2b. Providing very high
CMRR by use of additional circuitry.
(not necessary if converter is well-designed.)
93
 TYPICAL APPLICATIONS AND INTERFACE CONSIDERATIONS
ripple if high-frequency switching regulators are
used) by the input terminals. The solutions involve:
careful isolation of digital and analog grounds and
power-supply returns; guard buses between the
power-supply buses and the signal paths on the PC
card; and the use of wide, low-inductance paths for
grounds to which multiple returns must be made.
Ground-plane (strip-line) techniques, and bypass-
decoupling are sometimes advisable for bringing the
logic-level power supply into the card. Rarely, shield-
ing of the card from the logic-level power-supply bus
may also be necessary.
Trimming and System Setup
Assuming the individual functional modules of a syn-
chro or resolver system have been individually tested
for specified performance before assembly and inter-
connection into a system, the adjustment of the com-
plete system should be an extremely simple matter -
provided that modern, high-performance designs
have been employed. Indeed, by using the best avail-
able converters (which required neither zero-setting
nor gain trimming), the only system adjustments
required are the mechanical nulling of the synchro or
resolver elements (transducers for S/D or R/D sys-
tems and/or receivers for the D/S or D/R systems), by
alignment, at appropriate signal conditions.
Synchro Zeroing Procedure
All that is needed to zero a synchro is an AC Voltmeter
with a 200 V scale and a 0.1 V (or less) scale.
S1 0 - 200V
S2
R1
AC
V
REF
R2 S3
Figure 9.3a.
Figure 9.3. Synchro Zeroing.
94
Proceed as follows:
1. Set the shaft whose position is being measured
to its zero position.
2. Remove all connections from the synchro and
connect as shown in Figure 9.3a.
3. Unclamp synchro body and rotate until meter
reads a null, then connect meter between S1 and
R2 as shown in Figure 9.3b.
4. If meter reads less than the reference voltage (37
Vrms for 115 Vref), the synchro is at the correct
null and you should proceed to step 5. If the volt-
age is greater than the reference (193 V for 115
Vref), then the synchro body must be rotated 180°
and renulled using the voltmeter as in step 3.
5. Once the correct null position is determined, the
voltmeter should be set successively on lower scales
and the synchro body adjusted for the best null pos-
sible. The synchro is then clamped in position.
If the functional modules used are not permanently
zeroed and/or calibrated, the trimming can be a time-
consuming and tricky procedure, because it is very
often an interactive process ... one in which an adjust-
ment at one point in the system causes a shift in the
adjustment made earlier at another point. Trim proce-
dures, if necessary, should be obtained from the man-
ufacturer, before purchase, to determine the degree of
complexity before a purchase decision is made.
S1
R1 S2
AC
REF V
S3
R2
Figure 9.3b.
 SYNCHRO/RESOLVER CARDS

SECTION X

PC-Based Test Cards

Applications using synchro-to-digital (S/D) and
resolver-to-digital (R/D) converters generally require
some form of embedded card test equipment.
Having the ability to simulate and read
synchro/resolver outputs is essential in evaluating
overall system performance. A card-based test
stand offers a low-cost flexible way to handle many of
the testing requirements technicians and engineers
encounter today. Data Device Corporation (DDC)
has a variety of IBM PC-based Synchro/Resolver
cards to accommodate all application or testing
needs.
For low-cost multiple channel applications DDC pro-
vides a full range of component-grade PC ISA-based
cards. Recommended DDC cards for applications
requiring the measurement of position or speed are
listed in Table 10.1.
DDC's SDC-36015 card will provide up to six chan-
nels of synchro/resolver-to-digital conversion. It has
sockets for two families of DDC's popular converters:
the SDC-14560 series and the RDC-19200. For
applications that require 1.3 arc minutes of accuracy
and a synthesized reference, the SDC-14560 series
converters are the ideal choice. The majority of
applications, however, are well-suited for the RDC-
19200 for 2 volt sin/cos or 11.8 volt L-L resolver
applications, or the SDC-19204/6 series of convert-
ers for 11.8 or 90 volt L-L synchro applications.

Table 10.1. PC-Based Test Cards

PART NUMBER CHANNELS TYPE SPECIAL FEATURES
SDC-36015 six S/D or R/D —
SDC-36016 four S/D or R/D —
DSC-36020 six D/S or D/R —
DSC-36022 four D/S or D/R —
SIM-36010 one D/S or D/R high accuracy
API-36005 one S/D or R/D high accuracy

34 11
REF IN REF IN 11
REF IN
1 GND 1 GND 1
GND
RL RL
RH RH S1 18 S1 RL
S1 18 S1 RH
SDC-36015 S2 37 S2 SDC-36015 S1
S2 37 S2 SYNCHRO* SDC-36015
S3 19 S3 RESOLVER* S2 37 COS DIRECT*
S3 19 S3
S4 30 S4 S3 19 SIN
S4 18 V (DO NOT GROUND)

(with SDC-14560/1/2/3 or (with SDC-14564/5/6 or (with SDC-14567/8/9 or

SDC-19204/6 Converters) RDC-19200 Converters) RDC-19202 Converters)

*TRANSFORMER ISOLATION RECOMMENDED

Figure 10.1. SDC-36015 Wiring Configurations.

95
 SYNCHRO/RESOLVER CARDS

These low-cost industrial grade converters are avail-
able in 8, 4, 3 or 2 arc minute accuracy grades. With
the flexibility of programmable resolutions (10-, 12-,
14- or 16-bits) and programmable bandwidth, these
converters can handle a wide variety of applications.
Figure 10.1 shows typical wiring configurations for
the SDC-36015 card.
To provide a lower cost synchro/resolver-to-digital
PC card, Data Device Corporation offers the four-
channel SDC-36016. With a design based on the
RDC-19222 monolithic resolver-to-digital converter,
it provides engineers with the flexibility to measure
position and speed of almost all synchro and resolver
applications. With the ability to program reference
level, bandwidth, and resolution, the SDC-36016
card can interface with applications ranging from a
high-speed motor control feedback to a precision
application requiring 16-bits of resolution. The line-
to line-inputs of the SDC-36016 can be set for 2 volt
sin/cos L-L, 11.8 volt L-L or 90 volt L-L by changing
a thin-film resistor network. The I/O and velocity sig-
nals from these cards are brought off the circuit card
through a 37-pin male "D" type connector mounted
on the rear of the circuit card. See the wiring con-
figurations in Figure 10.2.
For applications where angle simulation is required
there are two component-grade cards available. The
DSC-36020 is a one- to six-channel low-power digi-
tal-to-synchro/resolver PC-based card. It has sock-
ets for three families of DDC's popular converters:

34 34 34

15 RL 15 15
RL RL
RH RH S1 36 RH
S1 36 S1
SDC-36016 S2 17 SDC-36016 SDC-36016
S2 17 SYNCHRO S2 17 DIRECT
S3 35 RESOLVER
S3 35 S3 35
S4 18 S4
(with RDC-19222 and (with RDC-19222 and (with RDC-19222 and
DDC-49530 or DDC-49590) DDC-49530) DDC-55688)

Figure 10.2. SDC-36016 Wiring Configurations.

17
17 RH RH 17
RH RH RH RH
35
35 RL RL 35
RL RL RL RL
DSC-36020 19
S/D 19 S1 S1 37 DSC-36020
R/D DSC-36020 DIRECT COS
CONVERTER S1 S1 CHANNEL1
CHANNEL1
COS CHANNEL1
CONVERTER 37 CONVERTER
37 SYNCHRO S2 S2 18 DIRECT
S2 S2 RESOLVER SIN SIN
18
18 S3 S3 36 (with DSC-11524,
S3 S3 (with DSC-11520 (with DSC-11524 COM COM DSC-11520, or
36 S4
or DSC-11524) S4 or DR-11525) DR-11525)

Figure 10.3. DSC-36020 Wiring Configurations.

96
 SYNCHRO/RESOLVER CARDS

the DSC-11524, DSC-11520 and DR-11525. The
DSC-11524 16-bit hybrid allows you to simulate 6.8
volt sin/cos or 11.8 volt L-L synchro/resolver outputs
with accuracy up to 2 arc minutes. A drive capability
of 15 mA allows for an external 11.8 volt L-L to 90
volt L-L step-up transformer to be connected to the
PC (DDC P/N 51538). The DSC-11520 16-bit hybrid
allows you to simulate 11.8 volt L-L synchro or 6.8
volt sin/cos with an accuracy up to 1 arc minute. The
DR-11525 16-bit hybrid is designed for high frequen-
cy applications (up to 10 kHz) and will allow you to
simulate 11.8 volt L-L resolver or 2 volt sin/cos. Both
the DSC-11520 and DR-11525 have a drive capabil-
ity of 2mA. For wraparound testing of
synchro/resolver-to-digital converters or driving high
impedance loads this low cost card gives you the
ability to accurately simulate synchro or resolver out-
puts. Wiring configurations are shown in Figure 10.3.
If more drive capability is required, the DSC-36022
one- to four-channel PC-based card has sockets for
the DSC-644 and DSC-544 modular digital-to-syn-
chro/resolver converters. The DSC-644 series con-
verter will provide 1.5 VA of drive at 11.8 V L-L syn-
chro and resolver or 90 V L-L synchro. When using
the DSC-644 modules you will also require an exter-
nal ±15 DC voltage supply. The DSC-544 series will
provide 1.5 VA synchro 90 V L-L at 60 Hz (-I version)
or 4.5 VA at 90 V L-L at 400 Hz (-H version). This is
a reference powered digital-to-synchro converter that
will provide accuracy up to 4 minutes with no exter-
nal DC power supplies required. See Figure 10.4.

17
17 RH RH
RH RH 35
35 RL RL
RL RL 36
S/D 36 DSC-36022 R/D S1 S1 DSC-36022
CONVERTER S1 S1 CHANNEL1 CONVERTER 18 CHANNEL1
SYNCHRO S2 S2 RESOLVER
S2 18
S2 37
S3 S3
37 (with DSC-544
S3 S3 19 S4
or DSC-644) S4 (with DSC-644)

WHEN USING DSC-644 MODULE YOU MUST CONNECT ±15 VOLTS TO THE 37-PIN "D" CONNECTOR

SEE DATA SHEET FOR ADDITIONAL CHANNELS

Figure 10.4. DSC-36022 Wiring Configurations.

10
S1 S1
10
S1 S1
9 S2
S2
9
S2 S2 8
S3 S3
S/D CONVERTER 8 SIM-36010 SIM-36010
S3 S3 SYNCHRO R/D CONVERTER 7 RESOLVER
S4 S4
12 (11.8, 90 V L-L) (11.8 V L-L)
RH RH 12
RH RH
11
RL RL 11
RL RL

Figure 10.5. SIM-36010 Wiring Configurations.

97
 SYNCHRO/RESOLVER CARDS

7 7
RH RH

8 RL 8
RL RL RL
RH RH S1 25 S1
S1 25
S1 API-36005 S2 22 S2 API-36005
S2 22 SYNCHRO
S2 S3 24 RESOLVER
(11.8, 90 V L-L) S3
S3 12 (11.8 V L-L)
S3 S4 23
S4

Figure 10.6. API-36005 Wiring Configurations.

Providing a low-cost alternative to bench top instru-
ments gives today's engineer the tools to properly
evaluate systems at the component level reducing
the cost impact when systems are tested at higher
levels of integration and problems are found. The
SIM-36010 is a full-size PC-based card containing a
broadband (360 Hz to 5K Hz), high accuracy (25 arc
seconds) synchro/resolver simulator instrument on a
card. This card accepts either 26 Vrms or 115 Vrms
reference signal and provides synchro or resolver
output signals at 11.8, 26, or 90 V L-L with a drive
capability of 1.5 VA. The SIM-36010 also includes a
programmable dynamic rotation feature which can
provide a constant rotation from 0.17 /second up to
30.5 rps (wiring shown in Figure 10.5).
The API-36005 PC-based angle indicator card is the
complement to the SIM-36010; it is also a broadband
angle indicator that accepts input signals from 360
Hz to 5 KHz and provides an accuracy up to 18 arc
seconds. See Figure 10.6 for the API wiring config-
uration.
Software is available in "C," PASCAL,
LabWindows/CVI, and LabView for the six cards
described above. The software disk (currently ver-
sion 1.3.x) is shipped with the card. Note: you must
have National Instruments LabWindows/CVI or
LabView to use the LabWindows/CVI or LabView
files.
There is also a DLL and Library available for
Windows 95 and Windows NT. The software pack-
age (currently version 2.x) contains the DLL Library,
sample programs and an executable application that
will exercise the card.
Software can be downloaded from DDC's website at
www.ddc-web.com, or obtained through DDC's
Literature Department.

98
 APPLICATION TIPS AND EXAMPLES

SECTION XI

In this section we will illustrate a combination of tra-
ditional applications of synchro and resolver convert-
ers and how the increased functionality of the new
generation of converters can be applied to solving
system needs.
Example #1: Coordinate Transformation (Polar to
Rectangular)
is fed the cosθ output of the D/R. Thus, the multipli-
er outputs are proportional to the X and Y coordi-
nates of the vector representing the sensed parame-
ter at the scanning angle θ. These outputs drive the
x and y deflection yokes of a storage oscilloscope (or
the inputs of an X-Y recorder). If there is to be a one-
second scan every 20 seconds, the maximum accu-
rate tracking rate required is 360°/sec or 1 rps.

Figure 11.1 shows a very useful and fundamental
application of a synchro transducer and converter: to
resolve a polar vector into rectangular-coordinate
components. One typical application might be in
doing studies of temperature, salinity, conductivity,
PH, or other physical or chemical gradients or distri-
butions in a test tank by scanning a probe around a
fixed-diameter path, one full revolution at each of
several regularly-speeded test times after the initial
excitation of the phenomenon being measured. The
output of the probe is then fed to the inputs of a pair
of analog multipliers, one of which is also fed the sinθ
output of the DC-coupled D/R, and the other of which
Note that it is essential that the sine and cosine out-
puts be DC level; that they both be bipolar (four-
quadrant); that they be free of spikes or other tran-
sients; and that they be independent of the refer-
ence-carrier frequency and amplitude (over a rea-
sonable range) and of the scale factor of the CT.
Example #2: Using an S/D in the CT Mode in a
Servo System
One of the most straightforward applications of an
S/D converter in a servo system application is shown
in Figure 11.2. In this application, changes in posi-

Ix = 10K E1 Cosθ
CX
10 Cosθ M K
SYNCHRO- DIGITAL-TO- 10 E1 COSθ
SINE/COSINE DEFLECTION
Eref TO-DIGITAL
CONVERTER COILS OF
CONVERTER
M CRT DISPLAY
10 Sinθ K
10 E1 SINθ
Iy = 10K E1 Sinθ
θ Z Cosθ

Z
Rin Rf θ Z Sinθ
Es E1 = Es (Rf/Rin)
EMF GENERATED
BY PROBE
SHAFT
COUPLED
TO SEARCH
PROBE

T5

T4

T1 T3
T2

Figure 11.1. Polar-to-Rectangular Conversion.

99
 APPLICATION TIPS AND EXAMPLES

tion are commanded by the computer through sig-
nals fed to the solid-state CT, or Control Transformer.
The synchro is measuring the current position (θ),
and the computer is writing the new position (φ) to
the CT (an S/D in the CT mode). The output is
e = sin(θ-φ). The CT then drives the positioning
motors through DC power amplifiers.
Example #3: Using the Velocity (VEL) Output to
Stabilize a Position Loop
With a tachometer quality output, the VEL of the
newer generation of S/Ds and R/Ds can be used to
stabilize a position servo and thereby eliminate the
traditional tachometer and its gears. Figure 11.3
shows the block diagram of such an application.
Quite high performance can be achieved in such sys-
tems by taking full advantage of the reference fre-
quency and bandwidth programmability of the newer
converters.
Example #4: Interfacing an S/D or R/D with an
IBM PC
An S/D can be connected to an IBM PC through the
IBM PC or PCI bus located at address HEX 300
through 303. This location is reserved by the PC for
interface cards. Figure 11.4 illustrates the timing
considerations for the interface; Figure 11.5 illus-
trates the connection to the IBM PC bus.
Operation is as follows:
1. The port address where the S/D or R/D is located
is hard wired with jumpers into the 74LS688
address decoder. This address is HEX 300
through 303 and is reserved for prototype cards.
2. Address line A1 selects the upper or lower 8 bits
of the S/D or R/D to be placed on the bus. When
A1 is high, bits 1-8 are selected and when A1 is
low, bits 9-16 are selected.

SYNCHRO 3. Address line A0 sets and resets the S/D or R/D

θ
INHIBIT line. When A0 is low, the INHIBIT com-
mand (INH) is invoked or the digital data is frozen.
AMP
4. To read the output of the S/D or R/D, perform the
e = sin (θ − φ) SDC-19204
following:
DEMODULATOR or SDC-14560 REF
as a CT S
a. Send address HEX 302 to INHIBIT the S/D or
φ
R/D (hold data stable) and place bits 1-8 on the
µ COMPUTER bus. Read and store data on D0 to D7.

Figure 11.2. CT Mode Application. LATCH READ DATA

SYNCHRO OR
RESOLVER CLK OUT

ALE OUT
REF
SOURCE OUT
ADDR
VALID ADDRESS
AMP
I/O 500nsec MIN PULSE IN
READY

S/D OR R/D
D/A COMPUTER I/O R OUT
CONVERTER

VEL

Figure 11.4. PC Application—

Figure 11.3. S/D with VEL to Stabilize Position. I/O Read Cycle Timing.

100
 APPLICATION TIPS AND EXAMPLES

BIT 16 (LSB)

BIT 15

BIT 14

BIT 13

BIT 12

BIT 11

BIT 10 500 nSEC MIN

PULSE
BIT 9 74LS121
SDC-19204/6 Q
A1 BIT 8
D0 Y1
A2 BIT 7
D1 Y2
A3 BIT 6
D2 Y3 A2
A4 BIT 5
D3 Y4
BUS DRIVER
A5 BIT 4
D4 Y5 74LS465
A6 BIT 3 74LS467
D5 Y6
A7 BIT 2 INH Q CLK
D6 Y7
A8 BIT 1 (MSB) D
D7 Y8
G EM EL

IBM
BUS

Y1 Y2 Y3 Y4
I/O READ
G 74LS374
ALE

A1 A2 A3 A4
G P=Q
A9 P0 Q0 3 STATE
BUFFER
A8 P1 Q1

A7 P2 Q2
ADDRESS ADDRESS
A6 P3 DECODER Q3 SELECTION
74LS688 JUMPERS
A5 P4 Q4

A4 P5 Q5

A3 P6 Q6

A2 P7 Q7

A1

A0

I/O READY

Figure 11.5. S/D Converter to PC Connection Diagram.

101

b. Send address 300 HEX to keep the S/D or
R/D in the INHIBIT mode and place bits 9-16 on
the bus. Read and store data on D0 to D7.
c. Read address 301 HEX or 303 HEX to
release the S/D or R/D from the INHIBIT mode
(allow data to track) and prepare for the next mea-
surement. No valid data will be on the bus during
this command.
5. Since the output data is not valid until 0.5 µs after
the INHIBIT command is invoked, the I/O READY
line is held low for this period of time. When I/O
READY returns to the high level, the data on the
bus reads on the next negative clock edge.
Example #5: Using BIT or “Low Glitch Switch on
the Fly” to Speed Up Slew Rate
In many servo systems it is desirable to slew to a
given point very quickly and then track with some
conflicting requirements since there is usually a
trade off to be made between high speed and high
precision in a servo system. With the new R/Ds
offering pin-programmable resolution and a BIT
(Built-in-Test) output you can have the best of both
worlds. By using the BIT signal to lower the resolu-
tion the converter can slew faster and with more pre-
cision automatically as the need to slew fast disap-
pears.
Note that when the resolution is changed the analog
velocity (VEL) scaling also changes and since the
VEL output is from an integrator with a capacitor
feedback, the VEL cannot change instantaneously.
Therefore, when changing resolution while moving
there will be a transient with a magnitude propor-
tional to the velocity and a duration determined by
the converter bandwidth.
Switch Resolution On The Fly – Implementation
For applications that cannot tolerate the glitch in
position and velocity, switching resolution on the fly
should be used. The RD-19230 will track four times
faster for each step down in resolution (i.e., a step
from 16 bits to 14 bits). The steps for using the sec-
102
APPLICATION TIPS AND EXAMPLES
ond bandwidth in the RD-19230 for switching resolu-
tion on the fly are as follows:
1.The SHIFT pin should be tied to the resolution con-
trol line D0. For a set up with 100Hz bandwidth (RB
= 30k ohms and CBW = 0.033 µF), the delay for the
shift line is 250ms maximum. When shift is logic
high, the VEL1 components are chosen, and when
shift is logic 0, the VEL2 components are chosen.
2.The second set of BW components (CBW2, RB2,
CBW2/10) should be of the same value as the first
set of BW components (CBW1, RB1, CBW1/10). This
second set of components should be installed on
VEL2 and VEL SJ2.
Note: The bandwidth components must be cho-
sen so that the tracking rate to BW ratio is not
exceeded for the resolutions that will be used.
3.Connect RV between VEL and -VCO.
4.UP/DN will program the direction of the gain. Prior
to switching the resolution, the user must program
the direction. If the resolution is increasing (UP/DN
logic 0), the gain will be increased by a factor of
four. If the resolution is decreasing
(UP/DN logic 1), the gain will be decreased by four
(or decreased to one fourth).
For example:
If the application required a switch between 14- and
16-bit resolution only, the following five steps could
be followed:
i) The shift pin should be tied to the resolution con-
trol line D0 and the D1 resolution control line
should remain a logic high. On initial turn-on, the
D0 and shift line would be set to a logic low for 14-
bit mode. The second set of bandwidth compo-
nents (CBW2 RB2, CBW2/10) will be active.
ii) From 14-bit resolution the application is required
to increase the resolution to 16-bits. The gain is
then required to increase. The UP/DN pin should
be set to a logic low.
 APPLICATION TIPS AND EXAMPLES

iii) When the condition requiring the higher resolu-
tion is met, the D0 and shift line will be set to a
logic high for 16-bit mode. The first set of band-
width components (CBW1, RBW1, CBW1/10) will be
active.
iv) The next option in the application is to switch
back to 14-bit mode. The UP/DN pin should be set
to a logic high to prepare the second set of band-
width components for a decrease in resolution.
v) When the condition requiring the lower resolution
is met, the D0 and shift line will be set to a logic
low for 14-bit mode. The second set of bandwidth
components (CBW2, RBW2, CBW2/10) will be active.
Benefit of Switching on the Fly
Figure 11.6 shows a system at a constant velocity
that changes to a higher resolution. The signals that
have been recorded are:
1. VEL: velocity output pin on the RD-19230
2. DAC: this is the analog representation of the error
between the input to the digital-to-resolver
converter and the digital output of the RD-19230
3. D0: an input resolution control line to the RD-
19230
4. BIT: built-in-test output pin of the RD-19230
When this system type does not use the switch res-
olution on the fly implementation, the velocity and the
digital position data response is similar to the
response caused by a large step (179 degree step -
refer to Figure 11.6). Since this is a type II tracking
loop, the system will:
1 - overshoot the correct value
2 - approach the correct value
3 - overshoot the correct value again
4 - then settle to the correct value
The overshoot will develop a large error [SIN(θ−φ)] in
the converter. This error will exceed 100 LSBs caus-
ing the BIT to flag for a fault condition.
When this system uses the switch resolution on the
fly implementation, the velocity signal and digital
position data make a smoother transition similar to
the response caused by a small step (refer to
Figure 11.6) and the BIT does not indicate a fault
condition.

Without switching Resolution on the Fly Implementation With switching Resolution on the Fly Implementation

0V 0V
VEL VEL
-5V -5V

DAC 0V DAC 0V

5V
D0
5V 0V
D0
0V 5V
BIT
5V 0V
BIT
0V
50msec per division 50msec per division

Figure 11.6. “Switching On The Fly” Signal Comparisons.

103
 APPLICATION TIPS AND EXAMPLES

θ
TURNS COUNTING S1 φ
DIGITAL
ANALOG S2 S/D (OR R/D) OUTPUT
INPUT CONVERTER TO SYSTEM
CB S3
S4
SDC-19204 U
OR RDC-19200

U T REF
MC B.I.T.E.
OUTPUT
C1 C0
UP/DOWN
COUNTER

AC ERROR
SSCT THRESHOLD
CONVERTER DETECTOR
sin (θ − φ)

4 BITS

Figure 11.7. Turns Counting Connection Diagram. Figure 11.9. On-Line Self-Test for S/D.

ANALOG OUTPUT
TO SYSTEM
CB
REF
S1 S2 S3 S4

0.5 µs MIN
MAJOR CARRY D/S OR D/R
MC DIGITAL
CONVERTER
INPUT
20 ns MIN

;;;;;;
0.5 µs MIN
DOWN
0.5 µs MIN
COUNT
DIRECTION (U)
UP DIGITAL S/D OR R/D
CONVERTER
COUNT 0.5 µs MIN COMPARATOR

;
0.5 µs MIN

B.I.T.E. REF
DON'T CARE OUTPUT

Figure 11.8. Direction Output (U) Timing. Figure 11.10. On-Line Self-Test for D/S.

Example #6: Using Major Carry (MC) and
Direction (U) in Multiturn Applications
The MC and U lines of some S/Ds or R/Ds can
be used in multiturn applications as shown in
Figures 11.7 and 11.8. The MC signal is similar
to the four-bit up-down counter CO (Carry OUT),
that is, it is normally high and goes low for all 1's
when counting up or all 0's when counting down.
The Direction Output, U, is at a logic 1 to count
up and a logic 0 to count down. The logic level
at U is valid at least 0.5 µs before and at least
20 ns after the leading edge of CB (Converter
Busy).
Example #7: An On-Line Self-Test
In some systems the internal BIT (Built-in-Test) func-
tion of an S/D or R/D is not adequate and an addi-
tional level of built-in-test is required. One approach,
shown in Figure 11.9, is to connect a solid-state CT
(SSCT) to the input and output of the S/D or R/D and
monitor the Error Output (e) with a threshold detec-
tor. The SSCT inputs are the analog input angle θ
and the S/D output angle (digital) φ. The AC error
output (e) will be the difference, or more exactly
sin(θ - φ). The threshold detector must be set con-
sistent with the accuracy of the S/D or R/D, the SSCT
and the expected transient errors due to acceleration

104

in the system. The advantage of this scheme is that
it is on line and monitors continuously.
A similar scheme can be implemented for D/S or D/R
converters as shown in Figure 11.10. Here, the D/S
or D/R is followed by an S/D or R/D and a digital
comparator. The same factors must be taken into
consideration here too. Also, be careful to allow
enough settling time for the S/D or R/D, particularly
in the case of step inputs.
Example #8: Boosting the Output of D/S and D/R
Converters
Figure 11.11 shows the use of differential operational
amplifiers to boost both the average and the peak
power capabilities of a digital-to-resolver converter.
(The same amplifiers may be used to boost the out-
put capabilities of digital-to-synchro, synchro-to-DC
and synchro-to-sine/cosine DC converters). Modern
synchro-drive amplifiers are generally available with
output voltage ranges up to ±90 Volts, at voltampere
levels as high as ±25 VA. They are especially well
suited to driving multiple synchros.
It is important to note that not all high power ampli-
fiers are suitable for use as synchro drivers
because of the low power factor of the load. In dri-
ving a highly inductive load, most of the real power
must be dissipated in the amplifier, since the cur-
rent levels and phase shifts can be quite high.
Another important consideration is overload pro-
tection and/or current limiting. If a synchro torque
POWER AMPLIFIERS
Vx
-
+
D/R MULTIPLE
CONVERTER RESOLVERS
+ 10k
- TORQUE SYNCHRO
Vy
Figure 11.11. Boosting Output of D/R Converter.
105
APPLICATION TIPS AND EXAMPLES
receiver (TR) locks up at 180° from the D/S con-
verter angle, the TR essentially acts as a generator
aiding the D/S converter output rather than bucking
it as it does in normal operation. In this situation
the amplifier will be called upon to drive the resis-
tive portion of the TR's impedance (ZSO) and to
absorb an additional equal current from the TR.
Some form of protection is very desirable in this sit-
uation to prevent burning out the amplifiers and/or
synchro.
Figure 11.12 shows how two external power ampli-
fiers may be used to drive one or more three-wire
synchro receivers in parallel (or a high-power torque
synchro). This is possible because of the Y-connec-
tion configuration of the synchro receiver stator wind-
ings. It can be shown that supplying the high-level
energy to two of the three input lines, and directly
connecting the third (ground is the common connec-
tion) is just as effective as using three power boost-
ers. One word of caution: do not allow the ground-
return current from the third terminal to flow through
any of the low-level analog-circuit ground paths -
e.g., the ±15 V power-supply common. Instead, con-
nect the third synchro input directly to the third out-
put terminal on the D/S converter, and ground that
third output terminal to common.
Caution: Modular D/S converters that have trans-
former isolation on the output may have one out-
put tied to ground; hybrid D/S converters that
have amplifier outputs cannot have one output
tied to ground—damage to the hybrid may result.
10k
Vref
10k
D/S
CONVERTER
10k
Figure 11.12. Using Two Power Amplifiers to Drive a
Three-Wire Synchro from a D/S Converter.
 APPLICATION TIPS AND EXAMPLES

Example #9: Synchronizing Two Rotating Shafts
In some applications the phase and speed of
remotely located shafts must be synchronized as if
they were locked together by gears. This can be
accomplished in two ways.
whose analog input is the slave shaft CX. The SSCT
output will now be the difference of the input angles,
AC Error (e). This is for use in driving the slave shaft
motor. A separate start-up circuit is needed because
the output of the SSCT is only linear over a small
angular range, usually about 10-12 degrees.

The first is shown in Figure 11.13. In this method The second method is to simply use two S/Ds or
one shaft (the master) has a CX and S/D or R/D R/Ds, a µP and a D/A as shown in Figure 11.14. The
while the other has a CX and a SSCT. The output of advantage of this scheme is the simplified start up
the master S/D feeds the digital input of the SSCT synchronizing because the µP can bring the speeds

MASTER SLAVE
MOTOR MOTOR

MOTOR
CONTROLLER

SHAFT #1 SHAFT #2

Cx Cx
START-UP
CIRCUIT
REF REF

AC
S/D OR R/D SSCT ERROR PHASE SHAPING
CONVERTER
e SENSITIVE CIRCUIT
AMP
CONVERTER
DETECTOR

Figure 11.13. Synchronizing Two Shafts.

MASTER SLAVE
MOTOR MOTOR

MOTOR
CONTROLLER

SHAFT #1 SHAFT #2

Cx Cx

REF REF

S/D OR R/D S/D OR R/D

CONVERTER CONVERTER

D/A SHAPING
µP AMP
CONVERTER CIRCUIT

Figure 11.14. Synchronizing Two Shafts (method # 2).

106

into sync first, then the phasing. Additionally, the
hardware implementation is simplified. This
scheme can also be used to control speed differ-
entials between remotely located shafts. This
provides great flexibility since all variations from sys-
tem to system or job set-up to job set-up are com-
pletely under software control while the hardware
remains constant.
Example #10: Using an R/D With an Inductosyn
Figure 11.15 shows how some of the new wide-
bandwidth R/Ds, such as the RDC-19220 series, can
be used as an inductosyn-to-digital converter. Type
II tracking converters are excellent for inductosyn
applications because of their noise immunity, negligi-
ble drift, and fresh data.
In adapting an R/D to an inductosyn a few key points
must be kept in mind. Although conceptually quite
similar, the resolver is an inductive device whereas
the inductosyn is resistive; phase shift through a
resolver is generally minimal whereas the phase shift
through an inductosyn is substantial; resolver signals
INDUCTOSYN
INDUCTOSYN
SCALE
QUADRATURE
POWER
OSCILLATOR
OSC-15801
QUADRATURE
OUTPUT
0
90 PHASE
SHIFT
Figure 11.15. Inductosyn-to-Digital Converter.
APPLICATION TIPS AND EXAMPLES
are high level whereas inductosyn signals are low
level. As long as we keep these differences in mind
there should be no surprises.
In using an R/D you should treat the inductosyn as a
special case resolver. Excite the fixed scale as if it
were the reference but excite it with a current source
so the phase will be fixed. See the manufacturers
recommendations for the proper level. To compen-
sate for the phase shift through the inductosyn,
phase shift the reference input to the R/D converter.
The output of the slider will be in sin/cos format but
at a very low level, in the 20 mV range. Since the
R/D needs on the order of 2.0 volts, it must be ampli-
fied to that level by a pair of matched gain amplifiers.
These should be kept as close to the slider pattern
as possible due to the low level of the signals. The
outputs being higher and having low impedance can
drive the cable to the converter better. The actual
gain required of the amplifier will vary depending on
the inductosyn, its level of excitation and the spacing
of the scale and slider. Actual gain is not critical but
the two amplifiers must be matched and track over
temperature.
SLIDER
DUAL
MATCHED
INDUCTOSYN RESOLVER-
2 Vrms
PREAMPS TO-DIGITAL
CONVERTER
DIGITAL
OUTPUT
RDC-19220
SERIES
RH RL
CHASSIS GROUND
CIRCUIT GROUND
107
 APPLICATION TIPS AND EXAMPLES

Example #11: A 7 VA Power Amplifier for Driving
Synchros
In some applications a little more drive capability
than is available in the 5 VA output of the DSC-10510
is required or desired. In cases like this it is recom-
mended you use either the DSC-11520 or DSC-
11522 low power (2 mA) D/S converter with a sepa-
rate power amplifier as shown in Figure 11.16. This
circuit can drive up to 7 VA and can be used for either
11.8 V L-L or 90 V L-L applications.
The op amp is rated at 1 Amp peak and will provide
up to 7 VA output driving an 11.8 V synchro with a
Zso as low as 15 Ohms (similar to the UA791KM that
is no longer available). If transformer isolation is
required use DDC's P/N 18883 for 11.8 V output,
18884 for 90 V 400 Hz, and 18885 for 90 V 60 Hz.
With these 90 V transformers you can drive a Zso as
low as 868 Ohms.
If resolver format output is required use the sin/cos
outputs of the converter and the circuits shown in
Figures 11.17 and 11.18. Figure 11.17 is a straight
unity gain buffer giving an output of 6.8 Vrms while
Figure 11.18 gives 11.8 Vrms output.
Example #12: A Solid-State Scott-T
Figure 11.19 shows a solid-state Scott-T amplifier
useful for adapting an R/D converter to an 11.8V syn-
chro application. It converts the synchro signals S1,
S2 and S3 to the direct input resolver format signals
sin and cos. The accuracy of this Scott-T is deter-
mined by the match of the resistors R1 through R9.
This circuit presents a light but unbalanced load to the
synchro and, for this reason, should not be used in
combination with series dropping resistors. The val-
ues given in the figure are for an 11.8 V synchro to
2.0 V resolver configuration suitable for adapting an
R/D (such as DDC's RDC-19202, RDC-19220 series,

+15V +15V
+
DSC-11520 3
C7
6 R1
– C1 GND
2
1 +
RH U1 C7
S1 5 4 R2
32 OUTPUT TRANSFORMER -15V
RL +
9 SECTIONS TA AND TB
10 (OPTIONAL)

DIGITAL -15V C2
INPUTS

+15V
1 4
3 S1
6 R1 2 5
– 2 C1 TA
1 3 6 11.8V
U2 S3 SYNCHRO
S3 5 4 R2
OUTPUT
34, 35 + 9
10 8 10
S2
-15V C2
TB
7 9
+15V
3
6 R1
– 2 C1
1 11.8VL-L
U3
S2 5 4 R2
33, 36 + 9 COMPONENTS

10 U1, U2, U3 OP-AMP WITH CHARACTERISTICS OF UA 791KM

-15V (NOTE: THE UA 791KM IS OBSOLETE)
C2
C1 100PF, 10% CERAMIC
C2 3300PF, 10% CERAMIC
1:1 GAIN
C7 10µF, 35 VDC, TANTALUM
R1 3.9Ω, 5% CARBON COMPOSITION
R2 1.0Ω, 1W, 5% CARBON COMPOSITION

Figure 11.16. 7 VA 11.8 V 400 Hz Synchro Driver.

108
 APPLICATION TIPS AND EXAMPLES

+15V

DSC-11520 3
6 R1
– C1
2
RH U1 1
+SIN
+SIN 5 4 R2
35 +
RL 9

10 +15V
C +
DIGITAL
INPUTS -15V C7
33
GND
+
C7
-15V
+15V
3
6 R1
– 2 C1
1
U2 +COS
5 4 R2
+COS
36 + 9

10
C
-15V 1:1 GAIN

Figure 11.17. 7 VA 6.8 V Resolver Power Amplifier.

+15V
3
DSC-11520 6 R1
– 2 C1
1
RH U1 S3
+SIN 5 4 R 7.33k*
RL 35 +
9
10
C4 +15V
DIGITAL -15V
3
INPUTS
10k* 6 R1
– C1
2
1
U2 S1
4
5 R2
33 +
9
10
C4
+15V
-15V
3
6 R1
– 2
C
1
U3 S2
5 4 R
+COS 7.33k
36 +
9
10

C6 +15V
-15V 3
10k* 6 R1
– C1
2
1
U4 S4
4 R2
5 +
9
10

C5
-15V

* RESISTORS TO BE BALANCED TO WITHIN 0.025%

Figure 11.18. 7 VA 11.8 V Resolver Power Amplifier.

109
 APPLICATION TIPS AND EXAMPLES

R6

R1
S1 –
WHERE:
R2
S2 + +SIN SIN ~ S3 – S1
2
COS ~ [ S2 – ( S1 + S3 )]
R8 2 √3

FOR THE GENERAL CASE:

INPUT
OUTPUT R1 = R2 = R3 = R4
R3 R7 R5 = 1/2 R1
R6 = R7 = R8 = R9
R4
– FOR 11.8 V INPUT AND 2.0 VRMS OUTPUT:
R1 = R2 = R3 = R4 = 23k
R5
+
+COS R5 = 11.5k
S3
R6 = R7 = R8 = R9 = 8k

R9

Figure 11.19. A Solid-State Scott-T.

R2 U2D
2k 74AC86
13
C2 11
RDC-19220 220 pF A
12

U2A
74AC86 R1 U2B
LSB +1 2 2k 74AC86
3 4
1 C1 6 B
LSB 220 pF 5

R3 U2C
2k 74AC86
9
CB/NRP
C3 8
120 pF 10 NRP
EL
D1
1N4148

-5 V
NOTE: CMOS LOGIC IS RECOMMENDED. TTL AND TTL
COMPATIBLE LOGIC WILL SKEW THE DELAYS.

Figure 11.20. Replacing an Incremental Encoder with a Resolver or Synchro.

110

or RD-19230 converter) to a synchro application. By
changing the feedback and input resistor values most
line-to-line values can be accommodated.
Note: DDC suggests that the resistor tolerances are
matched to within 0.02%.
Example #13: Replacing an Incremental Encoder
With a Synchro or Resolver
In updating older systems many designers would like
to replace an incremental encoder transducer to
improve reliability and maintainability. At the same
time they would like to retain as much of the existing
circuitry as possible for economic reasons. One way
to accomplish this is shown in Figure 11.20. Here
the synchro or resolver feeds a standard new gener-
ation R/D converter. The Converter Busy is changed
to the zero index or north marker pulse while the in-
phase and quadrature signals are derived from the
LSB and next LSB as shown.
DDC’s latest RD-19230 monolithic R/D converter
provides the incremental encoder signals without the
RD-19230
1 1 1 1
0 2 4 6
Figure 11.21. Incremental Encoder Emulation Resolution Control.
111
APPLICATION TIPS AND EXAMPLES
addition of external circuitry (see Figure 11.21). The
RD-19230 allows you to program the resolution of
the A and B lines independently of the digital angle
data. Please refer to the RD-19230 data sheet for
additional information.
Example #14: A Binary Two-Speed Converter
Figure 11.22 shows a 1:32 two-speed S/D imple-
mented with two single-speed tracking S/Ds. The
outputs of the fine speed S/D are brought out direct-
ly but shifted in bit value by the speed ratio. That is,
all the bits are shifted by 1/32 (the MSB becomes the
6th bit and the LSB becomes the 19th). The coarse
data provides the rest of the MSBs with the 5483 pro-
viding the crossover ambiguity correction based on
comparing the two MSBs of the fine speed data with
the two overlapping bits of the coarse speed data. If
the bits match, the coarse data is correct and is used
for the 1 through 5 MSB outputs. If the fine is 1 LSB
larger than the coarse then 1 LSB correction is
added to the coarse data. The premise is that the
fine speed synchro defines the position and the
coarse synchro really just keeps track of which revo-
1 MSB
2
3
4
5
6
7
8
9
10
11
12
13
14
15
BIT 16 LSB
A
 APPLICATION TIPS AND EXAMPLES

C1
A4
1
B4 E4
C2
S1 A3
2
B3 E3
C3
A2
5483 3
B2 E2
C4
A1
4
E1
COARSE S2 COARSE
SYNCHRO S/D B1
CONVERTER B3
C5
A3
C6
A2 E4
5483
S3 B2 5
E3
C7
A1
E2
B1 CO
1/6 5404
1/6 5404

1/6 5404
F1 6 DIGITAL
OUTPUT
F2 7
S1
F3 8

F4 9

F5 10

F6 11

F7 12
FINE
FINE S/D
S2
SYNCHRO CONVERTER F8 13

F9 14

F10 15

F11 16

F12 17

F13 18
S3
F14 19

Figure 11.22. Binary Two-Speed S/D.

BITS 1..16 IN<1..8> OUT <1..16>

S1 ch.A
COARSE

S2 ch.A
S3 ch.A
S4 ch.A
RH ch.A
RL ch.A
+5V
S1 ch.B
S2 ch.B VPP
FINE

VCC SD-15900
S3 ch.B
S4 ch.B HOLD
RH ch.B RES_L
RL ch.B
ENHIGH
SD-14620
ENLOW
ENMID
INH INH
EMA MODE COARSE
EMB GND FINEHI
ELB
FINELO
CLKIN CLKOUT

Figure 11.23. Binary Two-Speed Conversion with the SD-14620 Converter and the SD-15900 Combiner.

112
 APPLICATION TIPS AND EXAMPLES

lution the fine speed synchro is on, in effect just Example #15: Single Axis Servo Interfacing to a
counting turns. If the difference is greater than 1 LSB Motorola 6809 µP
the system is out of sync or a failure has occurred.
Whereas some of the components in this example
Figure 11.23 shows the use of the SD-15900 com- may no longer be available, the example is still listed
bining circuit to combine two single-speed tracking for the purpose of understanding the technique of
S/D converters in the SD-14620 series converter. interfacing with a microprocessor. Please note that
The SD-15900 supports speed ratios of 1:4, 1:8, the newer R/D converters have a 16-bit parallel word
1:16, 1:32, 1:36, and 1:64. available through a 16-bit bus. Figure 11.24 illus-

POWER
POSITION MICROPROCESSOR D-A MOTOR GEARING
AMPLIFIER LOAD
ROM, RAM, 510 CONVERTER
SETPOINT

POSITION ENCODER

VELOCITY
FEEDBACK

Figure 11.24. Single-Axis Position Servo.

Y1
Y2 74LS138 G
Y3
+15V +5V A-B-C

A13~A15
RH RL +15V VL
ENM
S1
BITS 1~6 E

RH S1
6809 Q
S3 SDC-14565
S3
REFERENCE D0~D7
RESOLVER S2 INH
OSCILLATOR
S2
S4
RL
BITS 7~14
S4
100
e
VEL V ENL

V CS DO-07
CB2
+ – 6821
DIFFERENTIAL CA2
100k .1
AMPLIFIER/ CA1 PB0~PB7 CB1
FILTER

+5V S.C.
E.O.C.
8-BIT
+15V + 5k A-D
CONVERTER
FILTERED
5k LM311 DC VELOCITY

–
.1 10k RDL BIT

Figure 11.25. Resolver to 6809 µP Interface.

113
 APPLICATION TIPS AND EXAMPLES

trates a simplified block diagram of a single axis µP
based position servo while Figure 11.25 shows the
interface to Motorola's 6809 in detail. The diagram
also indicates a significant economy of resolver
based feedback: both position and velocity informa-
tion are readily derived from the same transducer.
DC velocity feedback information is developed intrin-
sically in the R/D converter as part of the conversion
process. In addition to being necessary in situations
where velocity and acceleration are to be tightly con-
trolled, velocity feedback is used in the two most
common digital control algorithms: "minimum-time"
or "bang-bang" control and proportional-integral-
derivative (PID) control.
Figure 11.26 illustrates the classical block diagram
for a "minimum-time" or "bang-bang" type position
control scheme. In this particular example, it is
assumed that the dynamics of the motor and
mechanical system loading may be accurately
modeled as a double integrator. That is, it
assumes that the overall load on the motor is
chiefly inertial, with rotational inertia J, a reason-
ably close approximation in many applications, by
applying either full accelerating torque or full decel-
erating torque, the servomotor's load may be pro-
grammed to travel from its origin to destination
points in minimum time. The control law for such a
system would be:
. .
+ | Imax | if e ≤ 0 and e > + e2 / 2 | Amax. |
. .
or e > 0 and e ≥ – e2 / 2 | Amax. |
IMOTOR =
. .
– | Imax | if e < 0 and e ≤ + e2 / 2 | Amax. |
. .
or e ≥ 0 and e < – e2 / 2 | Amax. |
Where | Amax | = +KT | max/J |; KT is the motor
torque constant. Note that for this control law, the
motor current may assume only the two limiting val-
ues of ±| Imax. | resulting in corresponding acceler-
ation of ±| Amax. |.
It is important to note that accurate velocity feedback
is an essential ingredient in this design. Using a
direct speed measuring device such as a DC
tachometer provides accurate, fresh velocity infor-
mation, but it entails the use of an additional electro-
mechanical part and an A/D converter. A similar
quality signal is available in new generation S/D and
R/D converters. A low-pass filter to eliminate carrier
ripple followed by a low-cost A/D converter can be
used to interface this velocity output to the µP.

CONTROLLER
MOTOR AND LOAD

.e
u = +|Imax| . X
+ e u = ± |Imax| ± |Amax| X
r e Kt I I
j S S
–
.
e u = – |Imax|

VELOCITY FEEDBACK
–1

POSITION FEEDBACK

Figure 11.26. “Bang-Bang” Motion Controller.

114
 APPLICATION TIPS AND EXAMPLES

Along with the "bang-bang" type of control, the other
type of digital position control algorithm commonly
used is the PID technique. With this scheme, the
motor command signal is derived from the raw error
signal, and its digitized time derivative and integral.
The relative amounts of the three terms are general-
ly tuned on-line to optimize loop response. The pro-
portional term, modified by the derivative term for
damping, constitutes the essential control law for
translating between set-point positions. The integral
term provides a measure of stability near the null and
compensates for long-term disturbances such as
static friction. Dynamic response is often improved
by clamping the integral term to zero during periods
of motion, allowing it to come into play only when the
loop is near null.
rithms require a source of fresh, accurate angular
velocity feedback as well as the encoded position
feedback. In some advanced controller schemes,
the two algorithms are combined, reaping the advan-
tages of both. The "bang-bang" law is used for the
large step changes; the PID control law is then uti-
lized near the error null.
Example #16: Interfacing a Microprocessor to a
Multiturn Positioning Servo
In an increasing number of applications, it is desir-
able to use multiturn as opposed to single-turn posi-
tion feedback. An example of multiturn measure-
ment is a screw-down system on a steel rolling mill
as illustrated in Figure 11.27.

The PID type control law, while not providing a mini-
mum time response as in the "bang-bang" system,
offers the advantages of improved accuracy as well
as superior stability (jitter-free) near the error null. It
should be emphasized, however, that both algo-
The essential advantage of multiturn position mea-
surement is that it provides improved resolution and
therefore improved accuracy over single-turn sens-
ing. A second advantage is that it eliminates the
need for a reducing gearbox in applications such as

DC SPEED RESOLVER R-D

MOTOR DC REDUCING TRANSDUCER CONVERTER
MOTOR GEARBOX INH MICROPROCESSOR-
DRIVE EN BASED
CB C U D-A
NUMERICAL CONVERTER
POSITION
CONTROLLER

REFERENCE TRI-
TURNS STATE
OSCILLATOR COUNTERS
SCREW-DOWN BUFFER
APPARATUS

DIRECTION
OF
SCREWDOWN
TRAVEL SUPERVISORY
CONTROL
MOVING
COMPUTER
ROLLER
DIRECTION OF
STEEL WEB TRAVEL

FIXED
ROLLER

Figure 11.27. Multiturn Position Interface.

115
 APPLICATION TIPS AND EXAMPLES

the screwdown, where single-turn position is not
inherently available. The principle disadvantage is
that it is "absolute/incremental" rather than
"absolute/absolute." That is, at any given time, the
single-turn shaft position is known exactly (absolute
position), but the turns count must be maintained by
counting full revolutions of the input shaft angle
(incremental measurement). This turns-counting
function may be implemented in either hardware or
software.
The primary disadvantage is that if there is a
momentary loss of power in either the transducer,
converter or counting electronics the turns count may
be lost. In addition, software turns-counting has the
added disadvantage of limiting the maximum per-
missible angular shaft speed (in rps) to one half the
system sampling rate. If this speed is exceeded, one
or more turns counts can be missed. Where these
constraints are not limiting the multiturn scheme
offers distinct economic benefits.

+5 V +15 V

0.1 µF 0.1 µF

SIN RDC-19220 SERIES +VCC

-S
+S BIT 1 (MSB) BIT 1 (MSB)
COS
-C VOUT VOUT
+C

RH RH
BIT 16 (LSB) BIT 16 (LSB)
RL RL
A +5 V
B
-VSUM
CBW CBW
ENM BURR BROWN
10 RBW DAC 703
ENL
VEL
RV
-VCO
GND AGND -VCC VDD COMMON

0.1 µF

-15 V +5 V
-5 V

NOTES: 1. CONCEPT DRAWING. SEE MANUFACTURERS' DATA SHEETS FOR COMPLETE INFORMATION.
2. RH AND RL ARE SWAPPED TO PROVIDE 2'S COMPLEMENT OPERATION. NORMAL WIRING OF
RH AND RL PROVIDES OFFSET BINARY OPERATION.

Figure 11.28. Block Diagram of a Typical Synchro/Resolver-to-DC Converter.

116
 INDEX
A B
AC error (e).............................................20, 61, 104, 106
acceleration error...............................................21, 71-72
acceleration lag .............................................................74
accuracy
absolute..................................................2, 78, 79, 88
relative ..............................................................70, 79
active loads ...................................................................55
amplifier mismatch ........................................................88
amplifier
power ........48, 50, 57, 63, 65, 88, 100, 105, 108,109
power boosting .........................................55, 57, 105
signal boosting .......................................65, 105, 108
amplitude error ..............................................................83
analog-to-digital conversion ..........................................77
angle position indicator ...........................................63, 64
angular error .....................................................21, 50, 57
applications, for synchro and resolver systems
a 7 VA power amplifier for driving synchros .........108
a binary two-speed converter ...............................111
a solid-state Scott-T..............................................108
boosting the output of D/S and D/R converters ...105
coordinate transformation (polar to rectangular) ....99
interfacing a microprocessor to a multiturn position-
ing servo ...............................................................115
interfacing an S/D or R/D with an IBM PC ...........100
on-line self-test .....................................................104
replacing an incremental encoder with a synchro or
resolver .................................................................111
single axis servo interfacing to a Motorola 6809 µP. ..
..............................................................................113
synchronizing two rotating shafts .........................106
using an R/D with an Inductosyn..........................107
using an S/D in the CT mode in a servo system....99
using BIT or low glitch switch on the fly to speed up
slew rate ...............................................................102
using major carry (MC) and direction (U) in multiturn
applications...........................................................104
using the velocity (VEL) output to stabilize a position
Loop......................................................................100
asynchronous data transfer...........................................90
117
bandwidth..........................................................21, 22, 45
binary code, natural ........................................8, 9, 78, 79
binary-coded-decimal coding ..................................63, 64
bit, binary ........................................................................9
bode plot .................................................................22, 45
built-in-test (BIT)............................................................81
C
calibration error .................................................70, 79, 85
capacitor value, for tuning stator windings....................56
carrier signal (wave) .....................................7, 26, 86, 88
clock pulse ......................................17, 18, 20, 28, 30, 39
clock-pulse generator..................................28, 30, 31, 42
common-mode rejection ratio (CMRR) .........................93
common-mode voltage (CMV) ......................................93
comparator, in error processor................................28, 38
components, synchro and resolver
classic combination ................................................10
control differential transmitter (CDX) ........................5
resolver (RS).............................................................5
Scott-T transformer...................................................6
synchro control transformer (CT) .............................5
synchro control transmitter (CX)...............................4
torque components...................................................6
transolver (TY) ..........................................................6
computer, interconnections for .....87, 100, 106, 113, 114
control transformer, solid-state (SSCT) ...19, 61, 62, 104,
....................................................................................106
converter busy (CB) ................................................20, 64
coordinate transformation (polar to rectangular)...........99
cost
function generator circuits ..........................18, 49, 50
price/parameter tradeoffs .......................................89
shaft angle transducers ............................................2
counter, up-down.........20, 21, 30, 31, 35, 37, 38, 43, 44,
........................................................................61, 63, 104
crossover detector...................................................34, 35
 INDEX (CONT)
D errors, error sources, in S/D conversion
data conversion techniques
demodulation, A/D, and µP approach.....................18
double-RC phase-shift ............................................17
harmonic oscillator..................................................18
real-time function-generator ...................................17
single-RC phase-shift .............................................16
data conversion, synchro and resolver formats ............10
data throughput rate .........................................86, 87, 88
DC error (D) ..................................................................20
design constraints
for S/D and D/S converter applications ..................51
digital signal, "ONE" and "ZERO" states, voltage level,
weighting.........................................................8, 9, 28, 78
digital word, resolution ....................................................9
digital-to-analog feedback .............................................93
digital-to-resolver (D/R) conversion .....37, 38, 40, 41, 42,
...........47, 48, 50, 51, 52, 57, 85, 86, 87, 88, 94, 99, 105
digital-to-resolver (D/R) systems, testing....57, 58, 59, 60
digital-to-synchro (D/S) conversion.10, 37, 57, 58, 59, 60,
............................................................85, 86, 87, 88, 108
digital-to-synchro (D/S) systems, testing ....57, 58, 59, 60
direction (U) ....................................................20, 37, 104
double RC phase shift circuitry ...............................15, 17
E circuits ........................................................48, 49, 50
enable (EL and EM)..........................................21, 38, 62
environmental sensitivity, transducers ............................3
error processor ...................20, 27, 28, 34, 35, 43, 44, 82
errors, error sources, in D/S conversion
amplifier mismatch..................................................88
external ...................................................................85
function generator.............................................85, 86
interface ..................................................................85
internal....................................................................85
loading ..............................................................87, 88
settling time and slew rate................................86, 87
static .......................................................................88
transient ..................................................................86
worst-case error analyses ......................................85
118
acceleration........................69, 70, 71, 72, 74, 75, 80
amplitude ................................................................83
external ...................................................................69
harmonic.................................................................82
interface ..................................................................70
internal....................................................................69
jitter .........................................................................81
linearity ...................................................................77
nonmonotonic ...................................................77, 78
quantization ............................................................81
skew........................................................................81
speed voltage ...................................................76, 77
staleness.................................................................80
static .......................................................................79
summarized ................................................69, 70, 71
tracking rate ......................................................73, 80
velocity..................................................70, 71, 72, 80
worst-case error statement.....................................70
F
feedback transformer ..............................................55, 56
follow-up servo systems .......................10, 11, 12, 13, 15
format conversion transformers ....................................65
function generator
programmed .........................................47, 48, 49, 50
ratio transformer ...............................................48, 85
G
gain error and drift ............................................70, 79, 83
glitch........................................................................86, 87
H
harmonic oscillator .16, 18, 29, 30, 31, 39, 40, 41, 42, 78
hybrid servo and synchro systems ...................11, 12, 13
hysteresis threshold and quantizing uncertainty....20, 21,
......................................................................................81
 INDEX (CONT)
I most significant bit (MSB) ........9, 36, 46, 47, 48, 80, 111
IBM PC interface .........................................................100
inductosyn-to-digital converter ....................................107
inhibit (INH) .............................................................21, 62
integrator...............................................18, 20, 21, 30, 31
integrity of input signals ................................................93
interconnections with computers, programs.87, 100, 101,
....................................................................113, 114, 115
interface circuits....................................89, 91, 92, 93, 94
isolation transformer.....20, 28, 32, 33, 56, 61, 65, 69, 83
J nonmonotonicity................................................69, 78, 85
jitter.........................................21, 22, 33, 70, 72, 81, 115
L
leakage reactance ............................................50, 65, 67
least significant bit (LSB).....9, 36, 69, 73, 74, 75, 77, 78,
........................................................................81, 86, 111
light-emitting diode (LED), drivers, in test setups ..36, 37,
................................................................................78, 79
"limit of error" of systems ........................................17, 71
Linear Variable Differential Transformer (LVDT).1, 2, 3, 4,
..........................................................................44, 45, 46
linearity...................21, 38, 50, 65, 70, 77, 78, 79, 85, 88
loading error......................................................70, 87, 88
loading, mechanical of angle transducer ........................3
loss of signal (LOS) ................................................21, 81
M programming device......................................................10
major carry (MC)...................................................20, 104
mathematics, fundamental, of synchros and resolvers..4,
.........................7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18
"missing code," nonmonotonic ......................................78
modular design..............................................................61
monotonicity .....................................3, 18, 69, 72, 77, 78
"Monte Carlo" technique ...............................................38
119
Motorola 6809 interface ..............................113, 114, 115
multiplexer, addressing of .............................................31
multiplexing, synchro-to-digital converters ....................31
multiplexing,synchro-to-digital conversion...............32, 33
multipliers, sine and cosine .....19, 20, 21, 27, 28, 31, 32,
..............................................................33, 34, 35, 48, 99
N
noise .....2, 3, 4, 9, 17, 18, 21, 27, 65, 69, 70, 72, 77, 80,
..................................................................81, 85, 93, 107
null ..3, 12, 13, 14, 17, 20, 21, 43, 45, 46, 53, 54, 55, 57,
................................................60, 61, 65, 66, 71, 94, 115
null, stable and unstable, in two-speed systems ....13, 54
O
offset, input (voltage and current) .....................70, 79, 93
P
performance, of shaft angle transducer ..................1, 2, 3
phase angle, spacial and time ..................................7, 57
phase correction............................................................25
polarity selection .....................................................47, 48
position feedback servo system ..1, 2, 3, 5, 6, 7, 8, 9, 10,
..........................................................................12, 13, 15
position sensing, application.......................100, 114, 115
power requirements, how to calculate for D/S ..58, 59, 60
pulsating power supplies ..................................51, 54, 55
Q
quadrant, of angle, selection.9, 19, 20, 26, 27, 47, 48, 86
quadrature error ............................................................82
quadrature errors........................8, 13, 17, 18, 25, 26, 27
 INDEX (CONT)
quantization uncertainty ................................................81
quantizing uncertainty.............................................20, 69
R ...............................31, 32, 35, 39, 41, 47, 106, 107, 116
ratio error, sine/cosine...................................................83
ratio error, speed-voltage ..............................................82
ratio network, resistor .......................................49, 85, 86
ratio transformer, tapped...................................48, 49, 67
read-only memory (ROM) ...........................10, 42, 50, 87
readout, blanked by B.I.T. .............................................81
readout, shaft angle ......................................................88
reference carrier, errors ....................................17, 69, 83
reference excitation of transducers .................................4
reference generator or synthesizer.......25, 26, 45, 64, 77
reference oscillators ......................................................67
reference-coupling transformer .....................................65
reliability, of shaft angle transducers ..................1, 2, 3, 4
remote sense ..........................................................55, 56
resolution ..2, 3, 9, 11, 12, 13, 21, 29, 31, 33, 34, 36, 47,
.........................60, 64, 69, 75, 77, 79, 96, 102, 103, 115
resolution, and price......................................................89
resolver (RS)...........................................................2, 6, 7
resolver format signals ..7, 25, 26, 28, 29, 36, 39, 41, 42,
.................................48, 50, 61, 63, 65, 76, 83, 107, 108
rotary variable differential transformer (RVDT)..1, 2, 3, 4,
..........................................................................43, 44, 45
S architecture...........................................10, 11, 12, 13
sample-and-hold circuits and techniques ..27, 28, 29, 30,
...............................31, 32, 33, 35, 36, 40, 42, 79, 81, 83
sampling error ...............................................................70
scale factor ...........................................41, 42, 50, 58, 99
scanning, random and sequential...........................32, 33
Scott-T transformer .6, 25, 28, 48, 50, 59, 61, 64, 65, 67,
..............................................................................83, 108
Scott-T, solid-state ............................................6, 19, 108
self-test........................................................................104
servo, two-speed.....................................................11, 12
servo, types I and II ..................20, 22, 35, 44, 71, 72, 80
120
servomechanism, electromechanical and hybrid...10, 11,
................................................................................20, 71
settling time ..........21, 22, 33, 70, 72, 74, 75, 76, 86, 105
shaft angle measurement, uses of ....1, 8, 11, 18, 20, 30,
shielded.............................................................65, 93, 94
signal conditioning ......................................................3, 4
signal, digital ...........................................8, 11, 17, 69, 78
single-RC phase-shift circuitry ................................16, 17
"skew" and "skew" error ....................................32, 70, 81
slew rate .............................................72, 86, 87, 88, 102
small signal settling.......................................................22
solid-state control transformer (SSCT) ......27, 28, 61, 62,
............................................................................104, 106
speed ratio............................11, 13, 34, 35, 36, 111, 113
speed voltage ...................................8, 25, 69, 76, 77, 82
SSCT ..............................................................27, 28, 106
staleness error .............17, 18, 29, 32, 40, 42, 70, 79, 80
static error.............................................31, 36, 79, 85, 88
stick-off voltage .......................................................13, 14
stored-table-look-up ................................................50, 78
subtractor, operational...................................................20
successive approximation sampling ...........28, 29, 78, 80
successive-approximation sampling..............................27
synchro format signal .............4, 5, 6, 7, 8, 50, 61, 63, 65
synchro simulator....................................................63, 64
synchro zeroing.......................................................79, 94
synchro, "coarse" and "fine" ....11, 12, 13, 14, 15, 17, 26,
..........................................................34, 35, 36, 111, 113
synchro/resolver systems
hybrid............................................................6, 10, 11
multi-, single-, and two-speed .10, 11, 12, 13, 33, 34,
.........................................................35, 36, 111, 113
two-speed, electrical...............................................13
synchro/resolver-to-digital conversion
circuit approaches ................................15, 16, 17, 18
demodulation ....................................................16, 18
double-RC phase-shift......................................16, 17
dynamic testing.................................................37, 38
dynamics ..............................................21, 22, 37, 38
function generator, real time.............................17, 18
harmonic oscillator ...............................18, 29, 30, 31
 INDEX (CONT)
multiplexing ............29, 31, 32, 33, 70, 79, 81, 83, 90
relationship of bandwidth, tracking rate and settling
time .........................................................................72
sampling.............................18, 26, 27, 28, 29, 30, 31
sequential-on-successive peak...............................32
simultaneous sample-and-hold...............................32
single-RC phase-shift .............................................16
successive approximation.......................................27
techniques of data conversion .............15, 16, 17, 18
theory of operation ............................................19-38
tracking.....................................19, 20, 21, 22, 23, 24
synchronization of converters and systems..................89
synchronizing shafts ...................................................106
synchro-to-DC conversion
synchro- or resolver-to-linear DC ...........................39
synchro/resolver-to-nonvariant DC ...................40, 42
theory of operation ...............................39, 40, 41, 42
T typical accuracy and performance ................................71
testing
digital-to-synchro converters .......................57-58, 85
dynamic testing of S/Ds ....................................37-38
synchro-to-digital converters ..................................36
thermal considerations......................................51, 52, 55
time constant, integrator ...........18, 29, 30, 31, 39, 40, 71
time phase error and shift ...8, 13, 15, 16, 17, 18, 25, 26,
....................................................................27, 33, 69, 82
time phase synchronization ............................................7
torque load management ..............................................51
torque receiver (TR) .................53, 54, 55, 57, 58, 59, 60
tracking converter .....................19, 20, 21, 22, 26, 34, 35
tracking rate, maximum in RDC-19220.........................74
tracking rate, measurement ............72, 73, 74, 75, 76, 80
transducers, shaft angle
brush encoders.........................................................1
cost ...........................................................................2
environmental sensitivity of ......................................3
loading of, dynamic and static ..................................3
optical encoder .........................................................1
performance of ......................................................2-3
121
potentiometers ..........................................................1
reference excitation ..................................................3
reliability and stability of ...........................................1
resolvers ...................................................................1
signal conditioning of.............................................3-4
transfer function (D/S) ...................................................76
transfer function (RDC-19220) ......................................72
transfer function (S/D)...........................22, 72, 76, 78, 83
transformers (see also components)
format conversion ...................................................40
isolation...................................................................56
power output ...........................................................56
translation........................................................................1
transmitter, electronic control differential (ECDX) (see
also components)..........................................................11
trimming, of synchro/resolver systems..........................94
tuning of synchro stator windings ...........................56, 57
tuning the load ..............................................................56
turn-on power surge......................................................51
typical accuracy and performance ................................71
V
VA (volt-amperes) .........................................................58
velocity (VEL) ..20, 21, 29, 32, 35, 38, 45, 100, 102, 103,
............................................................................114, 115
velocity error .............................21, 29, 35, 70, 71, 72, 80
velocity range ................................................................21
voltage ramp, for S/DC converter..................................39
voltage-controlled oscillator (VCO).20, 21, 43, 44, 73, 80
W
worst-case error analysis, D/S converters ....................85
worst-case error analysis, S/D converters..69, 70, 78, 79
Z
zero offset ...................................................38, 70, 79, 85